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-{
-    "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_putting_away_Halloween_decorations_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cabinet.n.01_1\": \"bottom_cabinet_rhdbzv_0\", \"caldron.n.01_1\": \"cauldron_92\", \"candle.n.01_1\": \"pillar_candle_91\", \"candle.n.01_2\": \"pillar_candle_90\", \"candle.n.01_3\": \"pillar_candle_89\", \"floor.n.01_1\": \"floors_ulujpr_0\", \"pumpkin.n.02_1\": \"pumpkin_94\", \"pumpkin.n.02_2\": \"pumpkin_93\", \"table.n.02_1\": \"coffee_table_koagbh_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_lower\", \"scene_instance\": \"house_double_floor_lower_task_putting_away_Halloween_decorations_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_qacthv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_qacthv_0\", \"category\": \"bottom_cabinet\", \"model\": \"qacthv\", \"scale\": [1.6584076881408691, 1.6618138551712036, 2.27225399017334], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_0\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_1\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_10\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_10\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_2\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_3\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_4\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_5\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_6\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_7\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_8\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_cwsigt_9\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": 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\"frqici\", \"scale\": [0.3373742699623108, 0.3373841643333435, 0.33737385272979736], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kjakgd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kjakgd_0\", \"category\": \"bush\", \"model\": \"kjakgd\", \"scale\": [0.4627520442008972, 0.46274271607398987, 0.4627504050731659], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_kjakgd_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kjakgd_1\", \"category\": \"bush\", \"model\": \"kjakgd\", \"scale\": [0.4627520442008972, 0.46274271607398987, 0.4627504050731659], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null}}, \"bush_knspbi_0\": {\"class_module\": 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\"class_name\": \"DatasetObject\", \"args\": {\"name\": \"decorative_sign_xzsmxq_0\", \"category\": \"decorative_sign\", \"model\": \"xzsmxq\", \"scale\": [0.9994317293167114, 0.9999769926071167, 1.0000669956207275], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"571b676f8b667ce921172bc745863e2a\"}}, \"door_bexenl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_bexenl_0\", \"category\": \"door\", \"model\": \"bexenl\", \"scale\": [0.9997830986976624, 1.0000373125076294, 0.9999975562095642], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\", \"corridor_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"4cf464b3b6f1f96498490951bd507ac8\"}}, \"door_bexenl_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_bexenl_1\", \"category\": \"door\", \"model\": \"bexenl\", \"scale\": [0.9984117150306702, 1.0000373125076294, 0.9999975562095642], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"corridor_0\", \"bathroom_0\"], \"bddl_object_scope\": null, \"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, 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\"ori\": [\n                            -0.0008404850959777832,\n                            -0.0003831579815596342,\n                            0.9994975924491882,\n                            0.03168351948261261\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"garden_chair_cottya_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            17.39127540588379,\n                            12.77530574798584,\n                            0.4573386311531067\n                        ],\n                        \"ori\": [\n                            -0.0009976029396057129,\n                            -0.0005969478515908122,\n                            0.9486072659492493,\n                            -0.3164539039134979\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"garden_chair_lraplz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.069025993347168,\n                            11.16181468963623,\n                            0.4360051453113556\n           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0.7087313532829285\n                        ],\n                        \"ori\": [\n                            0.0386950746178627,\n                            -0.05869486927986145,\n                            0.12976492941379547,\n                            0.9890493750572205\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_hgunnf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.887540340423584,\n                            1.7928310632705688,\n           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1.017114520072937,\n                            0.47334393858909607\n                        ],\n                        \"ori\": [\n                            -7.450580596923828e-08,\n                            1.564621925354004e-07,\n                            0.258820503950119,\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\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.685429096221924,\n        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1.1079022884368896,\n                            0.473300576210022\n                        ],\n                        \"ori\": [\n                            0.0031212270259857178,\n                            -0.003784871194511652,\n                            0.9999879002571106,\n                            2.4887733161449432e-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\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.260105133056641,\n                            4.522088527679443,\n                            0.21441003680229187\n                        ],\n                        \"ori\": [\n                            -9.960494935512543e-07,\n                            7.511441708629718e-07,\n                            1.0,\n                            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   \"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     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             ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kbxtoc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.136273384094238,\n                            1.377645492553711,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_sbkyof_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.718851089477539,\n                            5.511994361877441,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_vkfllw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.954075336456299,\n                            -0.1620907038450241,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_hgonwj_0\": {\n                    \"is_asleep\": false,\n                    \"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 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         ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.0018343925476074,\n                            0.7760968208312988,\n                            1.1881228685379028\n                        ],\n                        \"ori\": [\n                            3.0835824873065576e-05,\n                            -6.060566875021323e-07,\n                            0.7042463421821594,\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                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11536934226751328,\n                            7.761946678161621,\n                            1.1729766130447388\n                        ],\n                        \"ori\": [\n                            -2.0081497495993972e-05,\n                            -0.00045781783410348,\n                            -0.7034240365028381,\n          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                   \"ori\": [\n                            0.00045757481711916625,\n                            -1.9954866729676723e-05,\n                            0.7107516527175903,\n                            0.7034428715705872\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.709315776824951,\n                            3.4284281730651855,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.0004578052321448922,\n                            -2.0079402020201087e-05,\n                            0.7107706665992737,\n                            0.7034236788749695\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.699669361114502,\n                            7.66694450378418,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.00045783864334225655,\n                            -2.0101986592635512e-05,\n                            0.7107707858085632,\n                            0.7034235596656799\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n              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\"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516910791397095,\n                            2.7649073600769043,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_10\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.7691171169281006,\n                            7.305008888244629,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.102612980565027e-08,\n                            3.282541172211495e-08,\n                            0.3754790425300598,\n                            0.9268308877944946\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_11\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.9526609182357788,\n                            7.304921627044678,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.183096156244574e-08,\n                            3.076413435110226e-08,\n                            0.35190078616142273,\n                            0.9360373020172119\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_12\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523804426193237,\n                            6.563607692718506,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            2.9900355968948134e-08,\n                            8.215054947413591e-08,\n                            0.9396926164627075,\n                            0.342020183801651\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_13\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5522271394729614,\n                            5.746275424957275,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.408306170626929e-08,\n                            8.050520250435511e-08,\n                            0.920872151851654,\n                            0.3898646831512451\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_14\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523110628128052,\n                            4.9298200607299805,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.610970367162736e-08,\n                            7.961676828927011e-08,\n                            0.910709798336029,\n                            0.41304683685302734\n                        ]\n                    },\n                    \"non_kin\": {}\n    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2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.894188058799045e-08,\n                            -3.756215605221769e-08,\n                            -0.4296610951423645,\n                            0.9029902219772339\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_17\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119429111480713,\n                            5.336261749267578,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.961677539469747e-08,\n                            -3.610968946077264e-08,\n                            -0.4130469262599945,\n                            0.9107097387313843\n                        ]\n         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4.915513515472412,\n                            2.1672098636627197\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.9079089760780334,\n                            0.3754293918609619,\n                            2.165252923965454\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            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               \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kjakgd_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"kjakgd\",\n                                \"scale\": [\n                                    0.4627520442008972,\n                                    0.46274271607398987,\n                                    0.4627504050731659\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kjakgd_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kjakgd_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"kjakgd\",\n                                \"scale\": [\n                                    0.4627520442008972,\n                                    0.46274271607398987,\n                                    0.4627504050731659\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_knspbi_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    0.7110752463340759,\n                                    0.7110562920570374,\n                                    0.7110764980316162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_7\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_8\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    0.5210912227630615,\n                                    0.5210831165313721,\n                                    0.5210502743721008\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_oedeqi_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_oedeqi_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"oedeqi\",\n                                \"scale\": [\n                                    0.5401318669319153,\n                                    0.5401249527931213,\n                                    0.5401372313499451\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_pjhpwk_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_pjhpwk_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"pjhpwk\",\n                                \"scale\": [\n                                    0.5033133029937744,\n                                    0.5033060312271118,\n                                    0.503303587436676\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_0\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_yhjhta_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.5133029222488403,\n                                    0.5133182406425476,\n                                    0.5133031606674194\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                      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                               ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_1\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6139122843742371,\n                                    0.613919198513031,\n                            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\"name\": \"tree_wtyipq_5\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_wtyipq_6\",\n                                \"category\": \"tree\",\n                                \"model\": \"wtyipq\",\n                                \"scale\": [\n                                    0.5642488598823547,\n                                    0.564253032207489,\n                                    0.564262866973877\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_wtyipq_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                 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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"wood_fireplace_gpnsij_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wood_fireplace_gpnsij_0\",\n                                \"category\": \"wood_fireplace\",\n                                \"model\": \"gpnsij\",\n                                \"scale\": [\n                                    0.9999626874923706,\n                                    1.000006079673767,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a3dad1b859babfe8179562440eacd38a\"\n                            }\n                        },\n                        \"bar_byvbuc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bar_byvbuc_0\",\n                                \"category\": \"bar\",\n                                \"model\": \"byvbuc\",\n                                \"scale\": [\n                                    0.9999271035194397,\n                                    1.0000065565109253,\n                                    1.0000300407409668\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"45b4f0a20915e4ffee86c5d043f88d5e\"\n                            }\n                        },\n                        \"burner_mdanhg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"burner_mdanhg_0\",\n                                \"category\": \"burner\",\n                                \"model\": \"mdanhg\",\n                                \"scale\": [\n                                    1.00006902217865,\n                                    1.000030517578125,\n                                    0.9988557696342468\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3a3d89d8301289e6578d18f9ad4756da\"\n                            }\n                        },\n                        \"shelf_vanltx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_vanltx_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"vanltx\",\n                                \"scale\": [\n                     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   \"category\": \"breakfast_table\",\n                                \"model\": \"xftrki\",\n                                \"scale\": [\n                                    1.0000485181808472,\n                                    0.9999868273735046,\n                                    0.9999451637268066\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9080e3d2ef9393b79ffed96b4df95419\"\n                            }\n                        },\n                        \"coffee_table_koagbh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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}\n                        },\n                        \"garden_chair_cottya_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_cottya_1\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_chair_cottya_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_cottya_2\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"cottya\",\n                                \"scale\": [\n                                    1.0000277757644653,\n                                    1.0000189542770386,\n                                    0.9999681711196899\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garden_chair_lraplz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_chair_lraplz_0\",\n                                \"category\": \"garden_chair\",\n                                \"model\": \"lraplz\",\n                                \"scale\": [\n                                    1.0000391006469727,\n                                    1.0000197887420654,\n                                    0.999955415725708\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"standing_mirror_wwkuuf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"standing_mirror_wwkuuf_0\",\n                                \"category\": \"standing_mirror\",\n                                \"model\": \"wwkuuf\",\n                                \"scale\": [\n                                    1.000001072883606,\n                                    1.0000319480895996,\n                                    0.9999984502792358\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": 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0.9999611377716064\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ebbbbd027d78080e6c2e0ebebd434811\"\n                            }\n                        },\n                        \"straight_chair_uofiqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_uofiqj_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"uofiqj\",\n                                \"scale\": [\n                                    1.0000693798065186,\n                                    0.9999873638153076,\n                                    0.9999604225158691\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"52a9089f8cee9448b4c6623f4e1f9984\"\n                            }\n                        },\n                        \"straight_chair_uofiqj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                        }\n                        },\n                        \"bar_egwapq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bar_egwapq_0\",\n                                \"category\": \"bar\",\n                                \"model\": \"egwapq\",\n                                \"scale\": [\n                                    0.9999869465827942,\n                                    0.9999972581863403,\n                                    1.0000406503677368\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f165c614bfa3ba7a9658351f292dee02\"\n                            }\n                        },\n                        \"bottom_cabinet_rhdbzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_rhdbzv_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"rhdbzv\",\n                                \"scale\": [\n                                    0.9999125599861145,\n                                    0.9999962449073792,\n                                    0.9999184012413025\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"474b071aa3d261db6c1fda0cb28130fe\"\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_alydei_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_alydei_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"alydei\",\n                                \"scale\": [\n                                    0.999988853931427,\n                                    0.9999680519104004,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cef6596004c6c97d1b0bcd052a20b17e\"\n                            }\n                        },\n                        \"ceilings_aoekre_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_aoekre_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"aoekre\",\n                                \"scale\": [\n                                    0.9999804496765137,\n                                    1.0000091791152954,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0885818f06d2cc0b6312e0d536534913\"\n                            }\n                        },\n                        \"ceilings_feolie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_feolie_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"feolie\",\n                                \"scale\": [\n                                    0.9999893307685852,\n                                    0.9999977946281433,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"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                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"985f9dd0af093515c1f0295728f006dd\"\n                            }\n                        },\n                        \"ceilings_kbxtoc_0\": {\n                            \"class_module\": 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           }\n                        },\n                        \"ceilings_sbkyof_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_sbkyof_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"sbkyof\",\n                                \"scale\": [\n                                    1.0000014305114746,\n                                    0.9999884366989136,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"dfdc76e52abc85fbbb5acb4173452c45\"\n                            }\n                        },\n                        \"ceilings_vkfllw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_vkfllw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"vkfllw\",\n                                \"scale\": [\n                                    1.000012993812561,\n                                    1.0000267028808594,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ac74d6cc6e967cfa0faf93330f0eebed\"\n                            }\n                        },\n                        \"decorative_sign_hgonwj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"decorative_sign_hgonwj_0\",\n                                \"category\": \"decorative_sign\",\n                                \"model\": \"hgonwj\",\n                                \"scale\": [\n                                    0.9999993443489075,\n                                    1.0000003576278687,\n                                    0.9999220967292786\n                  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  \"name\": \"door_vudhlc_3\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d3726776c3c24015ec736d607b16e7c\"\n                            }\n                        },\n                        \"downlight_pawfmw_0\": {\n                            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      \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                          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\"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\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": 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    \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_7\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\"\n                            }\n                        },\n                        \"downlight_pawfmw_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                             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},\n                        \"garden_light_qyfrwj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_3\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n               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                           }\n                        },\n                        \"hall_tree_daxzaw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hall_tree_daxzaw_0\",\n                                \"category\": \"hall_tree\",\n                                \"model\": \"daxzaw\",\n                                \"scale\": [\n                                    1.0000174045562744,\n                                    0.9999738335609436,\n                                    1.000008225440979\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_aztwla_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_aztwla_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"aztwla\",\n                                \"scale\": [\n                                    0.9999991059303284,\n                                    1.0000005960464478,\n                                    1.0\n               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            \"category\": \"wall_socket\",\n                                \"model\": \"nujxel\",\n                                \"scale\": [\n                                    1.0000932216644287,\n                                    1.0000927448272705,\n                                    0.9969304800033569\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"24512bee317668e94eab104c82a3569c\"\n                            }\n                        },\n                        \"walls_abtbfo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_abtbfo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"abtbfo\",\n                                \"scale\": [\n                                    0.999961793422699,\n                                    1.0000077486038208,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d2c8db00f1dcfd7d31f23e416e80f668\"\n                            }\n                        },\n                        \"walls_bjekee_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bjekee_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bjekee\",\n                                \"scale\": [\n                                    0.9999438524246216,\n                                    1.0000054836273193,\n                                    1.000013828277588\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"aeb9ba5c736c81fdd6c95bf7f1fa7ad6\"\n                            }\n                        },\n                        \"walls_buhmrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_buhmrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"buhmrc\",\n                                \"scale\": [\n                                    0.9999995231628418,\n                                    0.9999675750732422,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"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                                    1.0000461339950562,\n                                    0.999961793422699,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e88f6330c20edc4433a2bf71c6af7978\"\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0cf095598eb7cf2574a2a9b5213c0120\"\n                            }\n                        },\n                        \"walls_cxsmhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cxsmhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cxsmhr\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9997971057891846,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"01d260c54777499388a5e5fb29b7e622\"\n                            }\n                        },\n                        \"walls_dewyls_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dewyls_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dewyls\",\n                                \"scale\": [\n                                    1.0000096559524536,\n                                    0.9997960329055786,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a0f7b2a3d7a0d61ed6db4e20175d0d52\"\n                            }\n                        },\n                        \"walls_dlfarz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dlfarz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dlfarz\",\n                                \"scale\": [\n                                    0.9999517202377319,\n                                    0.999993085861206,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"267f032eef8d7030d0bab40f4438e240\"\n                            }\n                        },\n                        \"walls_epketb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1c3c838463bc6529eaca3d1fa37e33ab\"\n                            }\n                        },\n                        \"walls_fwsbwf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fwsbwf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fwsbwf\",\n                                \"scale\": [\n                                    1.0001320838928223,\n                                    0.9999893307685852,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\"\n                            }\n                        },\n                        \"walls_gishpf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gishpf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\"\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0a9b8c7bd29bd2114ac506a56d13023c\"\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jemunw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jemunw\",\n                                \"scale\": [\n                                    0.9999935030937195,\n                                    0.9997928738594055,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a5c2d0cc0cebc5a0e97e8a54410d1fb7\"\n                            }\n                        },\n                        \"walls_jglkyp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jglkyp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jglkyp\",\n                                \"scale\": [\n                                    0.9999024271965027,\n                                    1.0000457763671875,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"51d20aa994a890be0a316aa5664baf97\"\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"920393260671f948e7d25d57fd35c339\"\n                            }\n                        },\n                        \"walls_jzwmhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jzwmhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jzwmhx\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999966025352478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1d044ecde3cfed4e7950001476cf2e13\"\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"31a25d77050d9df82479669169fa14dd\"\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"84f518c09dac57ac3bce7642da5c5151\"\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgumxz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgumxz\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.999988853931427,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6ffaaafac0723532cb12b6d3c7466479\"\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0b5e185874fa78c45aa5def8d48d4686\"\n                            }\n                        },\n                        \"walls_miltge_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_miltge_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"miltge\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    0.9999647736549377,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b02bc7028b8fe7072fdfbc46a5bea0a6\"\n                            }\n                        },\n                        \"walls_mkgplc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mkgplc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mkgplc\",\n                                \"scale\": [\n                                    1.0000089406967163,\n                                    1.0001459121704102,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bc42054c49e5ba7b0acaf846f9f1976c\"\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d66b7521a0a5e91116c0c4f8ef7a267c\"\n                            }\n                        },\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"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\": \"walls_paarsl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paarsl\",\n                                \"scale\": [\n                                    0.999906599521637,\n                                    1.0000128746032715,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"11fa687a13b59d0c43196761a127277d\"\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pmygxs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pmygxs\",\n                                \"scale\": [\n                                    0.999999463558197,\n                                    0.9998095035552979,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"67b2e4f360067c0401db4274933180e5\"\n                            }\n                        },\n                        \"walls_qeofms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qeofms_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qeofms\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    0.999953031539917,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"fad3c5eea73a8ebaf5b69fb4d5efbaea\"\n                            }\n                        },\n                        \"walls_rrabdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rrabdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rrabdp\",\n                                \"scale\": [\n                                    0.9999839663505554,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c41dd37bac9db56b44446f5281bf58d9\"\n                            }\n                        },\n                        \"walls_uiloru_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uiloru_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uiloru\",\n                                \"scale\": [\n                                    0.9999812245368958,\n                                    0.9997938871383667,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"608ec2398c9b50659ba475509fc4349d\"\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                                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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"43d3d11e621b4af7afdc0816c4f1e069\"\n                }\n            },\n            \"bush_cwsigt_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fa09b11b5002ac67144632ac50c49c5\"\n                }\n            },\n            \"bush_kyghri_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_8\",\n            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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"99fac5fbe6206ef28bf1512ec9bfa9b9\"\n                }\n            },\n            \"bush_lfyqkj_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_pjhpwk_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"pjhpwk\",\n                    \"scale\": [\n                        0.5033133029937744,\n                        0.5033060312271118,\n                        0.503303587436676\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7b40d9ae66d06ba384f51c59ce1b05e3\"\n                }\n            },\n            \"bush_yhjhta_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_0\",\n             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          ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8fdc9eeb879e1e7cbb41e5be570e9aa6\"\n                }\n            },\n            \"bush_yhjhta_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_4\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"car_xxsgpq_0\",\n                    \"category\": \"car\",\n                    \"model\": \"xxsgpq\",\n                    \"scale\": [\n                        1.0000019073486328,\n                        0.9999808073043823,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"b21d975d126db866ca932800a5e04d43\"\n                }\n            },\n            \"charcoal_grill_crdaeu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"model\": \"tpuwys\",\n                    \"scale\": [\n                        0.6670383810997009,\n                        1.7092905044555664,\n                        2.349606513977051\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"91c0ed119ee57d3bcd77a247c462ba0b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"dishwasher_ynrhuk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"dishwasher_ynrhuk_0\",\n                    \"category\": \"dishwasher\",\n                    \"model\": \"ynrhuk\",\n                    \"scale\": [\n                        1.103658676147461,\n   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       \"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\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        1.216524362564087,\n                        0.9933228492736816,\n                        0.9864447116851807\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": 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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"78e1d7bfe4704d4c6969714e988cafdd\"\n                }\n            },\n            \"tree_flkzbo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7470294237136841,\n                        0.747040867805481,\n                        0.7470352649688721\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"979c65c7e0bc0b79b5199f09e64fbd50\"\n                }\n            },\n            \"tree_flkzbo_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_flkzbo_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                 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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"f83439015a0a26c7639448abb38ff24c\"\n                }\n            },\n            \"tree_gmzozb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": 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\"tree_wtyipq_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_8\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"ce3d91dc2e28c852028e0aa021b77373\"\n                }\n            },\n            \"wall_nail_wlnail_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_nail_wlnail_1\",\n                    \"category\": \"wall_nail\",\n                    \"model\": \"wlnail\",\n                    \"scale\": [\n                        2.438278913497925,\n                        2.4331214427948,\n                        2.437626838684082\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"146cd944b285810dbcbe870b9789a0e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wood_fireplace_gpnsij_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"expected_file_hash\": \"d47147def78e7a7393984ecf8ce2ffe6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_cottya_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_1\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_cottya_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_2\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e64c147161c9dc653136c4dc0900d4c6\"\n                }\n            },\n            \"garden_chair_lraplz_0\": {\n                \"class_module\": 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        \"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                    \"expected_file_hash\": \"dd7d1f102a2c4a0527e1a15e84bbbb58\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_hgunnf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_hgunnf_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"hgunnf\",\n                    \"scale\": [\n                        1.0000176429748535,\n                        0.9999879598617554,\n                        0.9999611377716064\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"ebbbbd027d78080e6c2e0ebebd434811\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_uofiqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"52a9089f8cee9448b4c6623f4e1f9984\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_uofiqj_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"52a9089f8cee9448b4c6623f4e1f9984\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_zdhnyg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_zdhnyg_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"zdhnyg\",\n                    \"scale\": [\n                        1.0000176429748535,\n                        0.9999879598617554,\n                        0.9999611377716064\n                    ],\n      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}\n            },\n            \"downlight_pawfmw_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_15\": {\n                \"class_module\": 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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                    \"expected_file_hash\": \"fb76fd6c62638bc3ecb53e7608fd722c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": 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    \"walls_bjekee_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bjekee_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bjekee\",\n                    \"scale\": [\n                        0.9999438524246216,\n                        1.0000054836273193,\n                        1.000013828277588\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"aeb9ba5c736c81fdd6c95bf7f1fa7ad6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_buhmrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_buhmrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"buhmrc\",\n                    \"scale\": [\n                        0.9999995231628418,\n                        0.9999675750732422,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85b1f1faa7cd89462ce5dd2842f4c87c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_chmqjn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_chmqjn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"chmqjn\",\n                    \"scale\": [\n                        1.0000461339950562,\n                        0.999961793422699,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e88f6330c20edc4433a2bf71c6af7978\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cvdpaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cvdpaq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cvdpaq\",\n                    \"scale\": [\n                        0.9999979734420776,\n                        0.9999068975448608,\n                        1.000015377998352\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0cf095598eb7cf2574a2a9b5213c0120\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cxsmhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cxsmhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cxsmhr\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9997971057891846,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"01d260c54777499388a5e5fb29b7e622\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dewyls_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dewyls_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dewyls\",\n                    \"scale\": [\n                        1.0000096559524536,\n                        0.9997960329055786,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a0f7b2a3d7a0d61ed6db4e20175d0d52\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dlfarz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dlfarz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dlfarz\",\n                    \"scale\": [\n                        0.9999517202377319,\n                        0.999993085861206,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"267f032eef8d7030d0bab40f4438e240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_epketb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_epketb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"epketb\",\n                    \"scale\": [\n                        0.9999929666519165,\n                        0.9999200701713562,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1c3c838463bc6529eaca3d1fa37e33ab\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fwsbwf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fwsbwf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fwsbwf\",\n                    \"scale\": [\n                        1.0001320838928223,\n                        0.9999893307685852,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d819743f91b5a9f20d7986f8350d2893\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gishpf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gishpf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gishpf\",\n                    \"scale\": [\n                        0.9998095035552979,\n                        0.9999909996986389,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"393a3e9a8d1325b1664d49c59e00a59c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hcbqvq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hcbqvq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hcbqvq\",\n                    \"scale\": [\n                        0.9998935461044312,\n                        0.9998812675476074,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0a9b8c7bd29bd2114ac506a56d13023c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jemunw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jemunw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jemunw\",\n                    \"scale\": [\n                        0.9999935030937195,\n                        0.9997928738594055,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a5c2d0cc0cebc5a0e97e8a54410d1fb7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jglkyp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jglkyp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jglkyp\",\n                    \"scale\": [\n                        0.9999024271965027,\n                        1.0000457763671875,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"51d20aa994a890be0a316aa5664baf97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jnbgxj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jnbgxj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jnbgxj\",\n                    \"scale\": [\n                        0.9999818205833435,\n                        1.000158429145813,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"920393260671f948e7d25d57fd35c339\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jzwmhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jzwmhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jzwmhx\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"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            \"pillar_candle_89\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pillar_candle_89\",\n                    \"category\": \"pillar_candle\",\n                    \"model\": \"cxswbc\",\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\": \"68604dcf53b3e083d4337b3dbde2d0cd\"\n                }\n            },\n            \"pillar_candle_90\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pillar_candle_90\",\n                    \"category\": \"pillar_candle\",\n                    \"model\": \"cxswbc\",\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\": \"68604dcf53b3e083d4337b3dbde2d0cd\"\n                }\n            },\n            \"pillar_candle_91\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pillar_candle_91\",\n                    \"category\": \"pillar_candle\",\n                    \"model\": \"cxswbc\",\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\": \"68604dcf53b3e083d4337b3dbde2d0cd\"\n                }\n            },\n            \"cauldron_92\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"cauldron_92\",\n                    \"category\": \"cauldron\",\n                    \"model\": \"zndohl\",\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\": \"13b46c5a466fb283ee29fe24cf2a9240\"\n                }\n            },\n            \"pumpkin_93\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pumpkin_93\",\n                    \"category\": \"pumpkin\",\n                    \"model\": \"apitmi\",\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\": \"0a3513940c5a87834fd9801de5ac5cb2\"\n                }\n            },\n            \"pumpkin_94\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pumpkin_94\",\n                    \"category\": \"pumpkin\",\n                    \"model\": \"apitmi\",\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\": \"0a3513940c5a87834fd9801de5ac5cb2\"\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": 148,
-    "num_samples": 148,
-    "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",
-        "pumpkin.n.02_1_real",
-        "pumpkin.n.02_1_pos",
-        "pumpkin.n.02_1_ori_cos",
-        "pumpkin.n.02_1_ori_sin",
-        "pumpkin.n.02_1_in_gripper_left",
-        "pumpkin.n.02_1_in_gripper_right",
-        "pumpkin.n.02_2_real",
-        "pumpkin.n.02_2_pos",
-        "pumpkin.n.02_2_ori_cos",
-        "pumpkin.n.02_2_ori_sin",
-        "pumpkin.n.02_2_in_gripper_left",
-        "pumpkin.n.02_2_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right",
-        "caldron.n.01_1_real",
-        "caldron.n.01_1_pos",
-        "caldron.n.01_1_ori_cos",
-        "caldron.n.01_1_ori_sin",
-        "caldron.n.01_1_in_gripper_left",
-        "caldron.n.01_1_in_gripper_right",
-        "table.n.02_1_real",
-        "table.n.02_1_pos",
-        "table.n.02_1_ori_cos",
-        "table.n.02_1_ori_sin",
-        "table.n.02_1_in_gripper_left",
-        "table.n.02_1_in_gripper_right",
-        "candle.n.01_1_real",
-        "candle.n.01_1_pos",
-        "candle.n.01_1_ori_cos",
-        "candle.n.01_1_ori_sin",
-        "candle.n.01_1_in_gripper_left",
-        "candle.n.01_1_in_gripper_right",
-        "candle.n.01_2_real",
-        "candle.n.01_2_pos",
-        "candle.n.01_2_ori_cos",
-        "candle.n.01_2_ori_sin",
-        "candle.n.01_2_in_gripper_left",
-        "candle.n.01_2_in_gripper_right",
-        "candle.n.01_3_real",
-        "candle.n.01_3_pos",
-        "candle.n.01_3_ori_cos",
-        "candle.n.01_3_ori_sin",
-        "candle.n.01_3_in_gripper_left",
-        "candle.n.01_3_in_gripper_right",
-        "cabinet.n.01_1_real",
-        "cabinet.n.01_1_pos",
-        "cabinet.n.01_1_ori_cos",
-        "cabinet.n.01_1_ori_sin",
-        "cabinet.n.01_1_in_gripper_left",
-        "cabinet.n.01_1_in_gripper_right"
-    ],
-    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_cwsigt_3/base_link/visuals\", \"3\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_8/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"6\": \"/World/scene_0/bush_lfyqkj_5/base_link/visuals\", \"7\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"8\": \"/World/scene_0/pumpkin_94/base_link/visuals\", \"9\": \"/World/scene_0/pumpkin_93/base_link/visuals\", \"10\": \"/World/scene_0/cauldron_92/base_link/visuals\", \"11\": \"/World/scene_0/pillar_candle_91/base_link/visuals\", \"12\": \"/World/scene_0/pillar_candle_90/base_link/visuals\", \"13\": \"/World/scene_0/pillar_candle_89/base_link/visuals\", \"14\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_miltge_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_mgvxov_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_lovfhw_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_lblwvg_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_jzwmhx_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_jnbgxj_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_jglkyp_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_jemunw_0/base_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"46\": 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\"/World/scene_0/straight_chair_hgunnf_0/base_link/visuals\", \"63\": \"/World/scene_0/downlight_pawfmw_9/base_link/visuals\", \"64\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"65\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"66\": \"/World/scene_0/floors_qadhjb_0/base_link/visuals\", \"67\": \"/World/scene_0/garden_light_qyfrwj_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"68\": \"/World/scene_0/garden_light_qyfrwj_0/base_link/visuals\", \"69\": \"/World/scene_0/garden_light_qyfrwj_5/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"70\": \"/World/scene_0/garden_light_qyfrwj_5/base_link/visuals\", \"71\": \"/World/scene_0/lawn_tiqndr_0/base_link/visuals\", \"72\": \"/World/scene_0/picture_ggajdz_0/base_link/visuals\", \"73\": \"/World/scene_0/playground_xdlcdi_0/base_link/visuals\", \"74\": \"/World/scene_0/room_light_eqbjaz_0/base_link/visuals\", \"75\": \"/World/scene_0/track_light_ltnnrc_0/base_link/visuals\", \"76\": \"/World/scene_0/walls_chmqjn_0/base_link/visuals\", \"77\": \"/World/scene_0/walls_epketb_0/base_link/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"79\": \"/World/scene_0/bush_cwsigt_4/base_link/visuals\", \"80\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"81\": \"/World/scene_0/bush_kjakgd_0/base_link/visuals\", \"82\": \"/World/scene_0/bush_kyghri_1/base_link/visuals\", \"83\": \"/World/scene_0/bush_kyghri_8/base_link/visuals\", \"84\": \"/World/scene_0/bush_lfyqkj_6/base_link/visuals\", \"85\": \"/World/scene_0/bush_pjhpwk_3/base_link/visuals\", \"86\": \"/World/scene_0/bush_yhjhta_5/base_link/visuals\", \"87\": \"/World/scene_0/microwave_hjjxmi_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"88\": \"/World/scene_0/microwave_hjjxmi_0/glass/visuals\", \"89\": \"/World/scene_0/microwave_hjjxmi_0/link_0/visuals\", \"90\": \"/World/scene_0/microwave_hjjxmi_0/base_link/visuals\", \"91\": 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\ No newline at end of file
diff --git a/meta/episodes/task-0005/episode_00050370.json b/meta/episodes/task-0005/episode_00050370.json
deleted file mode 100644
index 221234706351d2a912104a61c9ed5b786c072cf4..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0005/episode_00050370.json
+++ /dev/null
@@ -1,211 +0,0 @@
-{
-    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cabinet.n.01_1\": \"bottom_cabinet_jhymlr_0\", \"floor.n.01_1\": \"floors_tfuahz_0\", \"mousetrap.n.01_1\": \"mousetrap_50\", \"mousetrap.n.01_2\": \"mousetrap_49\", \"mousetrap.n.01_3\": \"mousetrap_48\", \"mousetrap.n.01_4\": \"mousetrap_47\", \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": [1.6128703355789185, 1.7241984605789185, 2.0688953399658203], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5768fc81dcf894b09d1da7973f938812\"}}, \"bottom_cabinet_nddvba_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_nddvba_0\", \"category\": \"bottom_cabinet\", \"model\": \"nddvba\", \"scale\": [0.919100284576416, 1.7930281162261963, 1.75520658493042], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_0\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_1\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_2\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_3\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_4\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_5\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"cd26cdf4218828dd96594770b29c0c7d\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"70964dcc6fb99eeb3b2174e2df0c44f9\"}}, \"stairs_tikozn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"stairs_tikozn_0\", \"category\": \"stairs\", \"model\": \"tikozn\", \"scale\": [0.9999832510948181, 0.9999979138374329, 1.0000052452087402], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"serving_cart_vvtcby_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"serving_cart_vvtcby_0\", \"category\": \"serving_cart\", \"model\": \"vvtcby\", \"scale\": [1.0001310110092163, 0.9999819993972778, 1.0000241994857788], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"19e8a8e5214fe05dc14252404addc7a1\"}}, \"bookcase_eckdny_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"398896fe689aa058c8a21309dfb1dc7b\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"1fc36a86ee715dc424ac9643b6d94b89\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_0\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_1\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"table_lamp_lshxmu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_lshxmu_0\", \"category\": \"table_lamp\", \"model\": \"lshxmu\", \"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"background_gkemae_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"background_gkemae_0\", \"category\": \"background\", \"model\": \"gkemae\", \"scale\": [1.0000039339065552, 0.9999995827674866, 1.0000026226043701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"bddl_object_scope\": null, \"expected_file_hash\": \"2bc4a006daca9351ac898d0761041c38\"}}, \"bathtub_rufepf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bathtub_rufepf_0\", \"category\": \"bathtub\", \"model\": \"rufepf\", \"scale\": [1.0000211000442505, 0.9999750256538391, 0.9999595284461975], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"69c884f53299f74e1a2aabc35bdda902\"}}, \"bed_klcjcy_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_klcjcy_0\", \"category\": \"bed\", \"model\": \"klcjcy\", \"scale\": [1.0000180006027222, 1.0000228881835938, 1.0000157356262207], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bed_siuxgz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_siuxgz_0\", \"category\": \"bed\", \"model\": \"siuxgz\", \"scale\": [0.9999813437461853, 0.9999961256980896, 0.9999623894691467], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"bddl_object_scope\": null}}, \"bed_tjfzsb_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bed_tjfzsb_0\", \"category\": \"bed\", \"model\": \"tjfzsb\", \"scale\": [1.0000121593475342, 0.9999977350234985, 0.9999493956565857], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_bsvnni_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_bsvnni_0\", \"category\": \"bookcase\", \"model\": \"bsvnni\", \"scale\": [0.9998963475227356, 1.000018835067749, 1.0000661611557007], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_kdnyfh_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_kdnyfh_0\", \"category\": \"bookcase\", \"model\": \"kdnyfh\", \"scale\": [1.0000849962234497, 1.0000241994857788, 0.9999460577964783], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bookcase_kmuacd_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_kmuacd_0\", \"category\": \"bookcase\", \"model\": \"kmuacd\", \"scale\": [1.0000832080841064, 0.9999729990959167, 0.99996417760849], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"bddl_object_scope\": null}}, \"bookcase_opryhp_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_opryhp_0\", \"category\": \"bookcase\", \"model\": \"opryhp\", \"scale\": [0.9998956322669983, 1.0000393390655518, 1.0000652074813843], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_opryhp_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_opryhp_1\", \"category\": \"bookcase\", \"model\": \"opryhp\", \"scale\": [0.9998956322669983, 1.0000393390655518, 1.0000652074813843], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_0\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_1\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_2\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, \"bookcase_otwukr_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_otwukr_3\", \"category\": \"bookcase\", \"model\": \"otwukr\", \"scale\": [0.9999989867210388, 0.9999999403953552, 0.9999998807907104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null}}, 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{\"pos\": [-6.34283971786499, -0.3296562433242798, 1.2223284244537354], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"mousetrap_47\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.1560733318328857, 2.2875380516052246, 0.8861351609230042], \"ori\": [-5.707881882699439e-07, 7.504566747229546e-05, 0.3034686744213104, 0.9528414607048035], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"mousetrap_48\": {\"is_asleep\": true, \"root_link\": {\"pos\": [1.8828887939453125, 1.7635189294815063, 0.8861985802650452], \"ori\": [-6.770692561985925e-05, 3.144698712276295e-05, -0.7306309938430786, 0.6827725768089294], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {}}, \"mousetrap_49\": {\"is_asleep\": true, \"root_link\": {\"pos\": [2.171238660812378, 1.895473837852478, 0.8861513733863831], \"ori\": [6.441817822633311e-05, 3.778093014261685e-05, 0.9764238595962524, 0.2158622443675995], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": 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{\"target\": [0.0, 0.0, 0.0]}}, \"trunk\": {\"goal_is_valid\": true, \"goal\": {\"target\": [1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0]}}, \"arm_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_left\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[3.576278459149762e-06, 2.6822087875189027e-06], [4.099916259292513e-05, -1.8866758182412013e-06], [2.1090536392875947e-05, -1.5866498870309442e-05], [1.3411043937594513e-06, 8.940696147874405e-07], [-8.940695806813892e-06, -2.6822087875189027e-06]], \"current_idx\": 0, \"fully_filled\": true}}, \"arm_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-1.788139229574881e-06, 4.4703480739372026e-07], [6.618852057727054e-05, -3.711786848725751e-05], [2.5401719540241174e-05, -5.184856490814127e-07], [0.0, -2.235173951703473e-06], [-4.023313522338867e-06, 5.364417575037805e-06]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_double_floor_upper\", \"load_room_types\": null, \"load_room_instances\": [\"bathroom_0\", \"bathroom_1\"], \"include_robots\": false}, \"robots\": [{\"type\": \"R1Pro\", \"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"self_collisions\": true, \"obs_modalities\": [\"proprio\"], \"position\": [0.243072509765625, 2.041015625, 0.003753662109375], \"orientation\": [-0.003881497774273157, 0.0032369557302445173, 0.6089481711387634, 0.7931939363479614], \"grasping_mode\": \"assisted\", \"sensor_config\": {\"VisionSensor\": {\"modalities\": [\"rgb\", \"depth_linear\", \"seg_semantic\", \"seg_instance_id\"], \"sensor_kwargs\": {\"image_height\": 480, \"image_width\": 480}}}, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"setting_mousetraps\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
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\"mousetrap.n.01_4\": \"mousetrap_47\",\n                \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"\n            }\n        }\n    },\n    \"state\": {\n        \"pos\": [\n            0.0,\n            0.0,\n            0.0\n        ],\n        \"ori\": [\n            0.0,\n            0.0,\n            0.0,\n            1.0\n        ],\n        \"registry\": {\n            \"system_registry\": {},\n            \"object_registry\": {\n                \"bottom_cabinet_jhymlr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.092590808868408,\n                            2.0246498584747314,\n                            0.49188706278800964\n                        ],\n                        \"ori\": [\n                            9.5367431640625e-07,\n                            1.6076186511781998e-05,\n                            1.0,\n                            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  \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"electric_switch_strbnw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.30884644389152527,\n                            1.3495941162109375,\n                            1.2362018823623657\n                        ],\n                        \"ori\": [\n                            0.023773042485117912,\n                            -0.022032978013157845,\n                            0.6989905834197998,\n                            0.7143961191177368\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                        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]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_lempwq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -4.3455681800842285,\n                            -0.39413031935691833,\n                            1.2223286628723145\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_oglchp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.531142711639404,\n                            -0.3776160180568695,\n                            1.2223286628723145\n   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                        \"current_idx\": 0,\n                                \"fully_filled\": false\n                            }\n                        }\n                    },\n                    \"non_kin\": {},\n                    \"ag_obj_constraint_params\": {\n                        \"left\": {},\n                        \"right\": {}\n                    }\n                }\n            }\n        }\n    },\n    \"init_info\": {\n        \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n        \"class_name\": \"InteractiveTraversableScene\",\n        \"args\": {\n            \"scene_model\": \"house_double_floor_upper\",\n            \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\",\n            \"scene_file\": {\n                \"metadata\": {\n                    \"task\": {\n                        \"inst_to_name\": {\n                            \"agent.n.01_1\": \"robot_r1\",\n                            \"cabinet.n.01_1\": \"bottom_cabinet_jhymlr_0\",\n                            \"floor.n.01_1\": \"floors_tfuahz_0\",\n                            \"mousetrap.n.01_1\": \"mousetrap_50\",\n                            \"mousetrap.n.01_2\": \"mousetrap_49\",\n                            \"mousetrap.n.01_3\": \"mousetrap_48\",\n                            \"mousetrap.n.01_4\": \"mousetrap_47\",\n                            \"sink.n.01_1\": \"furniture_sink_ojjqku_0\"\n                        }\n                    }\n                },\n                \"init_info\": {\n                    \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n                    \"class_name\": \"InteractiveTraversableScene\",\n                    \"args\": {\n                        \"scene_model\": \"house_double_floor_upper\",\n                        \"scene_instance\": \"house_double_floor_upper_task_setting_mousetraps_0_0_template\",\n                        \"scene_file\": null,\n   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\"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cd26cdf4218828dd96594770b29c0c7d\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                                    0.9989968538284302,\n                                    0.999685525894165,\n                                    0.9994485974311829\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"70964dcc6fb99eeb3b2174e2df0c44f9\"\n                            }\n                        },\n                        \"stairs_tikozn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"stairs_tikozn_0\",\n                                \"category\": \"stairs\",\n                                \"model\": \"tikozn\",\n                                \"scale\": [\n                                    0.9999832510948181,\n                                    0.9999979138374329,\n                                    1.0000052452087402\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"serving_cart_vvtcby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"serving_cart_vvtcby_0\",\n                                \"category\": \"serving_cart\",\n                                \"model\": \"vvtcby\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    0.9999819993972778,\n                                    1.0000241994857788\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"19e8a8e5214fe05dc14252404addc7a1\"\n                            }\n                        },\n                        \"bookcase_eckdny_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_eckdny_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"eckdny\",\n                                \"scale\": [\n                                    1.0001277923583984,\n                                    0.9999730587005615,\n                                    0.9999985098838806\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_dlncrt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_dlncrt_0\",\n                                \"category\": \"door\",\n                                \"model\": \"dlncrt\",\n                                \"scale\": [\n                                    1.0001740455627441,\n                                    1.0000379085540771,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": 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                        \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_1\": {\n                            \"class_module\": 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                   \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"90de00b721a593fe6029bc56acf542e1\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d5921c643dcc0a93992005a7b3bdc4d6\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4de9acb9f9f9c143725d95862649d0dc\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"furniture_sink_ojjqku_0\",\n                                \"category\": \"furniture_sink\",\n                                \"model\": \"ojjqku\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000003576278687,\n                                    0.9999823570251465\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"82dc0a7a598004d55e2aec9c50f80570\"\n                            }\n                        },\n                        \"map_fdtxut_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"map_hsbtqi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_hsbtqi_0\",\n                                \"category\": \"map\",\n                                \"model\": \"hsbtqi\",\n                                \"scale\": [\n                                    0.9997706413269043,\n                                    0.9998932480812073,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_ovdinr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ovdinr_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ovdinr\",\n                                \"scale\": [\n                                    0.9987460374832153,\n                                    1.0000121593475342,\n                                    1.0000134706497192\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\": \"67a77083280f1faa491263ccc1c01a1b\"\n                            }\n                        },\n                        \"painting_eexydp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_eexydp_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"eexydp\",\n                                \"scale\": [\n                                    1.0030890703201294,\n                                    0.9999678134918213,\n                                    1.0000113248825073\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_jfkvxh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_jfkvxh_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"jfkvxh\",\n                                \"scale\": [\n                                    1.001561164855957,\n                                    0.9999836683273315,\n                                    1.0000487565994263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_ljabhq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_ljabhq_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"ljabhq\",\n                                \"scale\": [\n                                    1.0005065202713013,\n                                    0.9999780058860779,\n                                    1.0000290870666504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_abtgvz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_abtgvz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aicjaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aicjaq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aicjaq\",\n                                \"scale\": [\n                                    1.0000500679016113,\n                                    0.9999763369560242,\n                                    1.0017871856689453\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aqahkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aqahkx_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aqahkx\",\n                                \"scale\": [\n                                    1.000043511390686,\n                                    0.9999478459358215,\n                                    0.9999922513961792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_bzmdxc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_bzmdxc_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"bzmdxc\",\n                                \"scale\": [\n                                    0.9997698068618774,\n                                    0.9997700452804565,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_hyjqxp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_hyjqxp_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"hyjqxp\",\n                                \"scale\": [\n                                    0.9998784065246582,\n                                    1.000119686126709,\n                                    0.9999837279319763\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_jovfqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_jovfqj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"jovfqj\",\n                                \"scale\": [\n                                    0.9999560713768005,\n                                    1.0000486373901367,\n                                    1.001761794090271\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    1.0000498294830322,\n                                    1.0017874240875244\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_nzctlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                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    ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_svpzro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_svpzro_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n   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                    \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                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\"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                     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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_giialz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_giialz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"giialz\",\n                                \"scale\": [\n                                    1.0000324249267578,\n                                    0.9999755620956421,\n                                    1.0006901025772095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                              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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b3480047d2d31897fbbf0cefc1a98c85\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                   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                               \"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ef1df2a98e95c50b3881f1a7e0a30ba9\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                     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},\n                        \"wall_mounted_light_etqbld_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                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            \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"boflea\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9999855160713196,\n                                    1.0000048875808716\n                       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1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cdef188b4094c5806eee3577d7722fed\"\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"32e167547393ebdf51cdeb48e4bddbd7\"\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b0ff26d26a0e7be3149adf0c34fe51e1\"\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3dacdc7222e11faf813308adb492f321\"\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                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\"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"07b7f38bce91492398cb23f822e1125b\"\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"walls_zlekao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zlekao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zlekao\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999727010726929,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"41226ca99e25e4a93f36ea917b7aa998\"\n         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1.0000001192092896,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"e7fa2d47e6bf6ec1de332da10adffe77\"\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"4de9acb9f9f9c143725d95862649d0dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"5c5ac94a18bb9241332a3b4808e90934\"\n                }\n            },\n            \"furniture_sink_ojjqku_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"furniture_sink_ojjqku_0\",\n                    \"category\": \"furniture_sink\",\n                    \"model\": \"ojjqku\",\n                    \"scale\": [\n                        1.0,\n                        1.0000003576278687,\n                        0.9999823570251465\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"82dc0a7a598004d55e2aec9c50f80570\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"mirror_ovdinr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mirror_ovdinr_0\",\n                    \"category\": \"mirror\",\n                    \"model\": \"ovdinr\",\n                    \"scale\": [\n                        0.9987460374832153,\n                        1.0000121593475342,\n                        1.0000134706497192\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"67a77083280f1faa491263ccc1c01a1b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_xnuynn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_xnuynn_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"xnuynn\",\n                    \"scale\": [\n                        1.0000395774841309,\n                        1.0000495910644531,\n                        0.9983996152877808\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6e01399d75ae2c6f23057e40025741bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shower_giialz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shower_giialz_0\",\n                    \"category\": \"shower\",\n                    \"model\": \"giialz\",\n                    \"scale\": [\n                        1.0000324249267578,\n                        0.9999755620956421,\n                        1.0006901025772095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"cf630a00a84967aab7bb068344439759\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_afoeoa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_afoeoa_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"afoeoa\",\n                    \"scale\": [\n                        0.999765932559967,\n                        0.9998961687088013,\n                        1.000025987625122\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3480047d2d31897fbbf0cefc1a98c85\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_svuhzb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_svuhzb_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"svuhzb\",\n                    \"scale\": [\n                        1.000108003616333,\n                        1.0001031160354614,\n                        1.0000262260437012\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"727c61154828795a818eca71499da6c2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"toilet_udiezm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"toilet_udiezm_0\",\n                    \"category\": \"toilet\",\n                    \"model\": \"udiezm\",\n                    \"scale\": [\n                        1.0000375509262085,\n                        1.0000358819961548,\n                        0.9999516010284424\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"fbdda5783bee01746d910c803848818c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"towel_rack_qedffr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"towel_rack_qedffr_0\",\n                    \"category\": \"towel_rack\",\n                    \"model\": \"qedffr\",\n                    \"scale\": [\n                        1.0001524686813354,\n                        1.0000016689300537,\n                        1.0000251531600952\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef1df2a98e95c50b3881f1a7e0a30ba9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_etqbld_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_etqbld_0\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"etqbld\",\n                    \"scale\": [\n                        0.9998313784599304,\n                        1.000183343887329,\n                        1.0000163316726685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_etqbld_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_etqbld_1\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"etqbld\",\n                    \"scale\": [\n                        0.9998313784599304,\n                        1.000183343887329,\n                        1.0000163316726685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"b3d1fa09d42d3772b84e89066d857d16\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63c71f569287aec8457267e8d593189\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"18f1efa2229070e2c4e00576cff3808e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cdef188b4094c5806eee3577d7722fed\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"32e167547393ebdf51cdeb48e4bddbd7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b0ff26d26a0e7be3149adf0c34fe51e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3dacdc7222e11faf813308adb492f321\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0da8b8cc95f0be8d331ea6c4d03755d4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9567d28d0aa8832f19d34163b2c7e4dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"07b7f38bce91492398cb23f822e1125b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7c7e24a26487ee49b3fcd7f2195d6018\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"07f7ce729de8896f7464dc89e875cd56\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2dd4218d6107361b9fe45b0817d5cd75\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41226ca99e25e4a93f36ea917b7aa998\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"mousetrap_47\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_47\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_48\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_48\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_49\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_49\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\n                }\n            },\n            \"mousetrap_50\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mousetrap_50\",\n                    \"category\": \"mousetrap\",\n                    \"model\": \"mwfwsv\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1bbb8422abaaa9cc07b5cd26bc13a511\"\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": 10562,
-    "num_samples": 10562,
-    "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",
-        "mousetrap.n.01_1_real",
-        "mousetrap.n.01_1_pos",
-        "mousetrap.n.01_1_ori_cos",
-        "mousetrap.n.01_1_ori_sin",
-        "mousetrap.n.01_1_in_gripper_left",
-        "mousetrap.n.01_1_in_gripper_right",
-        "mousetrap.n.01_2_real",
-        "mousetrap.n.01_2_pos",
-        "mousetrap.n.01_2_ori_cos",
-        "mousetrap.n.01_2_ori_sin",
-        "mousetrap.n.01_2_in_gripper_left",
-        "mousetrap.n.01_2_in_gripper_right",
-        "mousetrap.n.01_3_real",
-        "mousetrap.n.01_3_pos",
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-        "mousetrap.n.01_3_ori_sin",
-        "mousetrap.n.01_3_in_gripper_left",
-        "mousetrap.n.01_3_in_gripper_right",
-        "mousetrap.n.01_4_real",
-        "mousetrap.n.01_4_pos",
-        "mousetrap.n.01_4_ori_cos",
-        "mousetrap.n.01_4_ori_sin",
-        "mousetrap.n.01_4_in_gripper_left",
-        "mousetrap.n.01_4_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right",
-        "sink.n.01_1_real",
-        "sink.n.01_1_pos",
-        "sink.n.01_1_ori_cos",
-        "sink.n.01_1_ori_sin",
-        "sink.n.01_1_in_gripper_left",
-        "sink.n.01_1_in_gripper_right",
-        "cabinet.n.01_1_real",
-        "cabinet.n.01_1_pos",
-        "cabinet.n.01_1_ori_cos",
-        "cabinet.n.01_1_ori_sin",
-        "cabinet.n.01_1_in_gripper_left",
-        "cabinet.n.01_1_in_gripper_right"
-    ],
-    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/mousetrap_50/base_link/visuals\", \"3\": \"/World/scene_0/mousetrap_49/base_link/visuals\", \"4\": \"/World/scene_0/mousetrap_48/base_link/visuals\", \"5\": \"/World/scene_0/mousetrap_47/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"12\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"13\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"14\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"15\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"16\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"17\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"18\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"19\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"20\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"21\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"22\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"23\": \"/World/scene_0/downlight_vlplia_1/base_link/visuals\", \"24\": \"/World/scene_0/picture_xnuynn_0/base_link/visuals\", \"25\": \"/World/scene_0/wall_mounted_light_etqbld_0/base_link/visuals\", \"26\": \"/World/scene_0/electric_switch_strbnw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"27\": \"/World/scene_0/electric_switch_strbnw_0/base_link/visuals\", \"28\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"29\": \"/World/scene_0/downlight_vlplia_3/base_link/visuals\", \"30\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"31\": \"/World/scene_0/showerhead_afoeoa_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"32\": \"/World/scene_0/showerhead_afoeoa_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"34\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"36\": \"/World/scene_0/serving_cart_vvtcby_0/base_link/visuals\", \"37\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"38\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"39\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"40\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"41\": \"/World/scene_0/showerhead_svuhzb_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"42\": 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\"/World/scene_0/bottom_cabinet_jhymlr_0/link_1/visuals\", \"58\": \"/World/scene_0/bottom_cabinet_jhymlr_0/link_0/visuals\", \"59\": \"/World/scene_0/bottom_cabinet_jhymlr_0/base_link/visuals\", \"60\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"61\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"62\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"63\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"64\": \"/World/scene_0/furniture_sink_ojjqku_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/furniture_sink_ojjqku_0/base_link/visuals\", \"66\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"69\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"70\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", 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\"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\"}",
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-}
\ No newline at end of file
diff --git a/meta/episodes/task-0022/episode_00220730.json b/meta/episodes/task-0022/episode_00220730.json
deleted file mode 100644
index 23a3ff9c0052c47a65ed56100624f346b85e1f1d..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0022/episode_00220730.json
+++ /dev/null
@@ -1,252 +0,0 @@
-{
-    "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_putting_shoes_on_rack_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"floor.n.01_1\": \"floors_xorxro_0\", \"gym_shoe.n.01_1\": \"gym_shoe_78\", \"gym_shoe.n.01_2\": \"gym_shoe_77\", \"hallstand.n.01_1\": \"hall_tree_daxzaw_0\", \"sandal.n.01_1\": \"sandal_76\", \"sandal.n.01_2\": \"sandal_75\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_lower\", \"scene_instance\": \"house_double_floor_lower_task_putting_shoes_on_rack_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_qacthv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_qacthv_0\", \"category\": \"bottom_cabinet\", \"model\": \"qacthv\", \"scale\": [1.6584076881408691, 1.6618138551712036, 2.27225399017334], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"a786b8fb65f91a047abc582495249a91\"}}, \"bush_cwsigt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_0\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_1\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_10\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_10\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_2\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_3\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_4\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\"}}, \"bush_cwsigt_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_cwsigt_5\", \"category\": \"bush\", \"model\": \"cwsigt\", \"scale\": [0.3559747040271759, 0.3559921085834503, 0.3559795320034027], \"fixed_base\": true, 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\"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 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                    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    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\"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                            -1.3330622911453247,\n                            3.47764253616333,\n                            1.7148997783660889\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                            6.517853989862488e-07,\n                            3.084866693825461e-05,\n                            0.7104472517967224,\n                            -0.703750491142273\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n            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3.4284281730651855,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.00045779027277603745,\n                            -2.0086619770154357e-05,\n                            0.7107703685760498,\n                            0.7034239768981934\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_3\": 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8.050520250435511e-08,\n                            0.920872151851654,\n                            0.3898646831512451\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_14\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523135662078857,\n                            4.929818630218506,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.610970011891368e-08,\n                            7.961676828927011e-08,\n                            0.910709798336029,\n                            0.41304683685302734\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_15\": {\n                    \"is_asleep\": false,\n        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2.337745189666748\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_7\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.6700310707092285,\n                            1.5348715782165527,\n                            2.337745189666748\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            8.62497770981463e-08,\n                            0.9865824580192566,\n                            0.16326363384723663\n                        ]\n         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7.304888725280762,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.754493225320402e-08,\n                            4.036735035128913e-08,\n                            0.46174877882003784,\n                            0.8870107531547546\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"driveway_umalys_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.69985294342041,\n                            5.707181453704834,\n                            -0.15000006556510925\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"drop_in_sink_lkklqs_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            8.109147071838379,\n                            0.23475468158721924,\n                            0.8585090637207031\n                        ],\n                        \"ori\": [\n                            1.3114304072894952e-15,\n                            4.177641343972027e-09,\n                            1.0,\n                            3.1391647326017846e-07\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        },\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_0\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                                    0.9998228549957275,\n                                    0.9999946355819702,\n                                    0.9999881982803345\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                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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                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_14\",\n                                \"category\": \"downlight\",\n                                \"model\": 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      \"name\": \"downlight_pawfmw_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_16\": {\n                            \"class_module\": 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                  }\n                        },\n                        \"downlight_pawfmw_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\"\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_5\",\n                                \"category\": 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                \"args\": {\n                                \"name\": \"downlight_pawfmw_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_7\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_9\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                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                 \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"386b39948ef68b26229f17d0ec872556\"\n                            }\n                        },\n                        \"floors_ulujpr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_ulujpr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"ulujpr\",\n                                \"scale\": [\n                                    1.0000017881393433,\n                                    0.9999909996986389,\n                                    1.0\n                                ],\n           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            0.9999807476997375,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8589d189d7be55d1cb950d968ca670c9\"\n                            }\n                        },\n                        \"floors_xorxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_xorxro_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"xorxro\",\n         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\"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_3\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_4\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n     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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e7bd70f770fefe441fa4e7f17a72217\"\n                            }\n                        },\n                        \"picture_tveyoh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_tveyoh_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"tveyoh\",\n                                \"scale\": [\n                                    0.9999850392341614,\n                                    1.000157356262207,\n                                    0.9978264570236206\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"82d80e537605d3674f8978b2f64cd38c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_yzbpie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yzbpie_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yzbpie\",\n                                \"scale\": [\n              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             \"args\": {\n                                \"name\": \"rail_fence_owbrvb_0\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\"\n                            }\n                        },\n                        \"rail_fence_owbrvb_1\": {\n                       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      \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\"\n                            }\n                        },\n                        \"rail_fence_owbrvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_4\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                              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       \"category\": \"range_hood\",\n                                \"model\": \"xvdfpp\",\n                                \"scale\": [\n                                    0.999972939491272,\n                                    0.9999890923500061,\n                                    0.9999650716781616\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"81bfc056084ea61abdd244371186d8c3\"\n                            }\n                        },\n                        \"roof_pgwmer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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            \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\"\n                            }\n                        },\n                        \"wall_mounted_light_mbhxbg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_mbhxbg_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"mbhxbg\",\n                                \"scale\": [\n                                    0.9992985725402832,\n                                    1.0001024007797241,\n                                    0.9997308850288391\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d8ab9c3deac7af96a0d70ba688adacda\"\n                            }\n                        },\n                        \"wall_mounted_tv_dxyfxf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_dxyfxf_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"dxyfxf\",\n                                \"scale\": [\n                                    1.0007919073104858,\n                                    1.0000017881393433,\n                   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    \"scale\": [\n                                    1.0000932216644287,\n                                    1.0000927448272705,\n                                    0.9969304800033569\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"4330b7cb7432ce234b36152b824a146f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_abtbfo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_abtbfo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"abtbfo\",\n                                \"scale\": [\n                                    0.999961793422699,\n                                    1.0000077486038208,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5b4896a60c91fe6a70dfaf6d3dcdc497\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bjekee_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bjekee_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bjekee\",\n                                \"scale\": [\n                                    0.9999438524246216,\n                                    1.0000054836273193,\n                                    1.000013828277588\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_buhmrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_buhmrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"buhmrc\",\n                                \"scale\": [\n                                    0.9999995231628418,\n                                    0.9999675750732422,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6d240c22e5f36de3ad60ea086569d665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chmqjn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chmqjn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chmqjn\",\n                                \"scale\": [\n                                    1.0000461339950562,\n                                    0.999961793422699,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cxsmhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cxsmhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cxsmhr\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9997971057891846,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dewyls_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dewyls_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dewyls\",\n                                \"scale\": [\n                                    1.0000096559524536,\n                                    0.9997960329055786,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                     \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_epketb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fwsbwf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fwsbwf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fwsbwf\",\n                                \"scale\": [\n                                    1.0001320838928223,\n                                    0.9999893307685852,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gishpf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gishpf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jemunw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jemunw\",\n                                \"scale\": [\n                                    0.9999935030937195,\n                                    0.9997928738594055,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jglkyp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jglkyp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jglkyp\",\n                                \"scale\": [\n                                    0.9999024271965027,\n                                    1.0000457763671875,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jzwmhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jzwmhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jzwmhx\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999966025352478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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},\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_owxeej_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_owxeej_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"owxeej\",\n                                \"scale\": [\n                                    0.9999358654022217,\n                                    1.000019907951355,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                     \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pmygxs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pmygxs\",\n                                \"scale\": [\n                                    0.999999463558197,\n                                    0.9998095035552979,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qeofms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qeofms_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qeofms\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    0.999953031539917,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rrabdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rrabdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rrabdp\",\n                                \"scale\": [\n                                    0.9999839663505554,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uiloru_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uiloru_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uiloru\",\n                                \"scale\": [\n                                    0.9999812245368958,\n                                    0.9997938871383667,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_umqqmh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_umqqmh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"umqqmh\",\n                                \"scale\": [\n                                    1.000093698501587,\n                                    0.9998928904533386,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_upttgq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_upttgq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"upttgq\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    1.0000076293945312,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vxveul_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vxveul_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vxveul\",\n                                \"scale\": [\n                                    0.9999592900276184,\n                                    1.0000137090682983,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_weybsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_weybsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"weybsr\",\n                                \"scale\": [\n                                    1.0000098943710327,\n                                    0.9999802112579346,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xsubff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xsubff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xsubff\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0000354051589966,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xyrbgy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xyrbgy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xyrbgy\",\n                                \"scale\": [\n                                    1.0,\n                                    0.9999845027923584,\n                                    1.0000032186508179\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ylpkth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ylpkth_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ylpkth\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zdhaff_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zdhaff_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zdhaff\",\n                                \"scale\": [\n                                    1.0000907182693481,\n                                    1.0000133514404297,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"washer_ziomqg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ziomqg_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ziomqg\",\n                                \"scale\": [\n                                    1.0000054836273193,\n                                    0.9999728202819824,\n                                    0.9999645948410034\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5104628d69c4e6da491d91832d049d58\"\n                            }\n                        },\n                        \"sandal_75\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sandal_75\",\n                                \"category\": \"sandal\",\n                                \"model\": \"vwbomj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n                            }\n                        },\n                        \"sandal_76\": {\n                            \"class_module\": 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                       \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"gym_shoe_77\",\n                                \"category\": \"gym_shoe\",\n                                \"model\": \"kmcbym\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n                            }\n                        },\n                        \"gym_shoe_78\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                               \"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          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],\n                                \"obs_modalities\": [],\n                                \"sensor_config\": {\n                                    \"VisionSensor\": {\n                                        \"sensor_kwargs\": {\n                                            \"image_height\": 1080,\n                                            \"image_width\": 1080\n                                        }\n                                    }\n                                },\n                                \"grasping_mode\": \"assisted\",\n                                \"expected_file_hash\": \"9f34cb802db8e2340aa186b6fc6554fd\"\n                            }\n                        }\n                    }\n                },\n                \"state\": {\n                    \"pos\": [\n                        0.0,\n                        0.0,\n                        0.0\n                    ],\n                    \"ori\": [\n                        0.0,\n               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      \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        2.309931516647339,\n                                        -3.0563852787017822,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.1376190185546875,\n        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                   \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_10\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.96783447265625,\n                                        -2.8315067291259766,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.46174880862236023,\n                                        0.8870107531547546\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.701294422149658,\n              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    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"bush_cwsigt_3\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.2271318435668945,\n                                        -3.8162572383880615,\n                                        0.21787306666374207\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.3420200049877167,\n                                        0.9396926760673523\n                                    ]\n                                },\n  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                                 \"ori\": [\n                                        2.60770320892334e-08,\n                                        9.359791874885559e-08,\n                                        -3.0617229640483856e-07,\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                                \"non_kin\": {}\n                            },\n                            \"straight_chair_zdhnyg_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.889132976531982,\n                                        1.107898473739624,\n                                        0.47330060601234436\n                                    ],\n                                    \"ori\": [\n                                        0.003121346002444625,\n                                        -0.0037848500069230795,\n                                        0.9999880194664001,\n                                        2.3531727492809296e-05\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                     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  \"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                 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[\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                                        -1.3330626487731934,\n                                        3.47764253616333,\n                                        1.7149001359939575\n                                    ],\n                                    \"ori\": [\n                                        7.130104222596856e-07,\n                                        0.0020132323261350393,\n                                        -2.5964516225940315e-06,\n                      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                  \"pos\": [\n                                        -2.0018343925476074,\n                                        0.7760968208312988,\n                                        1.1881228685379028\n                                    ],\n                                    \"ori\": [\n                                        3.083581759710796e-05,\n                                        -6.060673172214592e-07,\n                                        0.7042461633682251,\n                                        0.7099558711051941\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    3.7888986517469955e-15\n                                ],\n                                \"joint_vel\": [\n                                    4.5471436403536625e-13\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_vudhlc_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.11536934971809387,\n                                        7.761946678161621,\n                                        1.1729766130447388\n                                    ],\n                                    \"ori\": [\n                                        -2.0092727936571464e-05,\n       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           \"ori\": [\n                                        1.4272957038485856e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326363384723663\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_5\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.9079069495201111,\n                                        -0.6004332304000854,\n                                        2.165252923965454\n                                    ],\n                                    \"ori\": [\n                                        1.4272957038485856e-08,\n                            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                  0.16326363384723663\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_7\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.6700310707092285,\n                                        1.5348715782165527,\n                                        2.337745189666748\n                                    ],\n                                    \"ori\": [\n                                        1.4272957038485856e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326363384723663\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_pawfmw_8\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.6516907215118408,\n                                        3.740774631500244,\n                                        2.1672098636627197\n                                    ],\n                                    \"ori\": [\n                                        1.4272957038485856e-08,\n                                        8.62497770981463e-08,\n                                        0.9865825176239014,\n                                        0.16326363384723663\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            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\"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mwlvfb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.2233578860759735,\n                                        7.6935319900512695,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                       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\"ori\": [\n                                        -0.0005603723111562431,\n                                        0.0007301776204258204,\n                                        -0.10291466861963272,\n                                        0.9946897625923157\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                                    -1.5615960364812054e-06,\n                                    1.5285921790564316e-06,\n                               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2.235173997178208e-05\n                                                ],\n                                                [\n                                                    -1.1379252100596204e-05,\n                                                    1.8543461919762194e-05\n                                                ],\n                                                [\n                                                    -2.7184069040231407e-07,\n                                                    1.673113729339093e-05\n                                                ],\n                                                [\n                                                    -1.8328426449443214e-05,\n                                                    -2.41398793150438e-05\n                                                ],\n                                                [\n                                                    4.470347903406946e-06,\n                              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-8.386174158658832e-05,\n                                                    4.2098035919480026e-05\n                                                ],\n                                                [\n                                                    -2.7276115361019038e-05,\n                                                    2.08375058718957e-05\n                                                ],\n                                                [\n                                                    -1.788139229574881e-06,\n                                                    -2.9951332180644386e-05\n                                                ],\n                                                [\n                                                    -1.117586998589104e-05,\n                                                    3.0398367016459815e-05\n                                                ]\n                                            ],\n                                 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\"living_room_0\"\n            ],\n            \"include_robots\": false\n        }\n    },\n    \"objects_info\": {\n        \"init_info\": {\n            \"bush_cwsigt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\",\n                    \"bddl_object_scope\": null\n                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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_knspbi_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_knspbi_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"knspbi\",\n                    \"scale\": [\n                        0.7110752463340759,\n                        0.7110562920570374,\n                        0.7110764980316162\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                      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                \"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                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_kyghri_2\": {\n             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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_kyghri_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                      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                \"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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_1\": {\n             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\"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                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_4\",\n                    \"category\": \"bush\",\n                   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}\n            },\n            \"dishwasher_ynrhuk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"dishwasher_ynrhuk_0\",\n                    \"category\": \"dishwasher\",\n                    \"model\": \"ynrhuk\",\n                    \"scale\": [\n                        1.103658676147461,\n                        1.1392384767532349,\n                        1.0695672035217285\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fridge_petcxr_0\": {\n                \"class_module\": 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{\n                    \"name\": \"microwave_hjjxmi_0\",\n                    \"category\": \"microwave\",\n                    \"model\": \"hjjxmi\",\n                    \"scale\": [\n                        0.9998999238014221,\n                        1.00001859664917,\n                        0.9998341202735901\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"d4f14541ccd2e3716e66022ef7a71ae6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"oven_ffitak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"oven_ffitak_0\",\n                    \"category\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        1.216524362564087,\n                        0.9933228492736816,\n                        0.9864447116851807\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_dyymaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7cec21fbed88a8afd1e4e62bb7dc741\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_dyymaq_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_dyymaq_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"dyymaq\",\n                    \"scale\": [\n                        0.7470368146896362,\n                        0.7470313310623169,\n                        0.7470372319221497\n                    ],\n                    \"fixed_base\": 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\"args\": {\n                    \"name\": \"tree_wtyipq_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_6\",\n                    \"category\": \"tree\",\n                    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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_vanltx_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"vanltx\",\n                    \"scale\": [\n                        0.999862790107727,\n                        0.9999753832817078,\n                        0.9999756217002869\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"breakfast_table_xftrki_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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      \"model\": \"koagbh\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        1.0000159740447998,\n                        1.000001311302185\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"e461f59150bdc5b675a3b025c7b4e7ee\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_zdhnyg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_zdhnyg_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"zdhnyg\",\n                    \"scale\": [\n                        1.0000176429748535,\n                        0.9999879598617554,\n                        0.9999611377716064\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"a1e17c47ea4dd146449fbe05d7bc095a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_egwapq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_egwapq_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"egwapq\",\n                    \"scale\": [\n                        0.9999869465827942,\n                        0.9999972581863403,\n                        1.0000406503677368\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_rhdbzv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_rhdbzv_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"rhdbzv\",\n                    \"scale\": [\n                        0.9999125599861145,\n                        0.9999962449073792,\n                        0.9999184012413025\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_alydei_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_alydei_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"alydei\",\n                    \"scale\": [\n                        0.999988853931427,\n                        0.9999680519104004,\n   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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_feolie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_feolie_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"feolie\",\n                    \"scale\": [\n                        0.9999893307685852,\n                        0.9999977946281433,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_isizwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_isizwh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"isizwh\",\n                    \"scale\": [\n                        0.9999997019767761,\n                        0.9999985098838806,\n                        0.9999061226844788\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_kbxtoc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_kbxtoc_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"kbxtoc\",\n                    \"scale\": [\n                        0.9999968409538269,\n                        1.0000067949295044,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"308be41b758fc0ca3f8ac8e31ce37d86\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_sbkyof_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_sbkyof_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"sbkyof\",\n                    \"scale\": [\n                        1.0000014305114746,\n                        0.9999884366989136,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_vkfllw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_vkfllw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"vkfllw\",\n                    \"scale\": [\n                        1.000012993812561,\n                        1.0000267028808594,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"9a9b27c732cc2d0cee5ece6550efee5b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_hgonwj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_hgonwj_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"hgonwj\",\n                    \"scale\": [\n                        0.9999993443489075,\n                        1.0000003576278687,\n                        0.9999220967292786\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_rypeha_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_rypeha_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"rypeha\",\n                    \"scale\": [\n                        0.9984210729598999,\n                        1.0001134872436523,\n                        1.0001660585403442\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"42d69583e4b4152650d990287368132f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_xzsmxq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_xzsmxq_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"xzsmxq\",\n                    \"scale\": [\n                        0.9994317293167114,\n                        0.9999769926071167,\n                        1.0000669956207275\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"50b17dd7bf51dded04a7fef7a5383914\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_0\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9997830986976624,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_1\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9984117150306702,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_0\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_1\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_2\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_3\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_0\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_1\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_10\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_11\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_12\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_13\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_13\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_15\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_15\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_16\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_16\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_17\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_17\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_3\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_4\",\n      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\"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_6\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n      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        \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_owbrvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_1\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_owbrvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_2\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n 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                 \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_owbrvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_owbrvb_5\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"owbrvb\",\n                    \"scale\": [\n                        0.9999550580978394,\n                        0.9999983310699463,\n                        0.999997079372406\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"range_hood_xvdfpp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"range_hood_xvdfpp_0\",\n                    \"category\": \"range_hood\",\n                    \"model\": \"xvdfpp\",\n                    \"scale\": [\n                        0.999972939491272,\n                        0.9999890923500061,\n                        0.9999650716781616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"81bfc056084ea61abdd244371186d8c3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"roof_pgwmer_0\": {\n           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\"model\": \"kiuayi\",\n                    \"scale\": [\n                        0.999922513961792,\n                        0.999922513961792,\n                        0.9999570250511169\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_frlxgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_frlxgz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"frlxgz\",\n                    \"scale\": [\n                        0.9999723434448242,\n                        1.0000096559524536,\n                        1.0000298023223877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97f053b59fad5686fa81fb917c330d8c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"stairs_tikozn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"stairs_tikozn_0\",\n                    \"category\": \"stairs\",\n                    \"model\": \"tikozn\",\n                    \"scale\": [\n                        0.9999832510948181,\n                        0.9999979138374329,\n                        1.0000052452087402\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"swing_set_yzhrgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"swing_set_yzhrgz_0\",\n                    \"category\": \"swing_set\",\n                    \"model\": \"yzhrgz\",\n                    \"scale\": [\n                        0.9999914169311523,\n                        1.0000094175338745,\n                        0.9999831318855286\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n      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}\n            },\n            \"track_light_ltnnrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"track_light_ltnnrc_0\",\n                    \"category\": \"track_light\",\n                    \"model\": \"ltnnrc\",\n                    \"scale\": [\n                        1.0000474452972412,\n                        0.9999818801879883,\n                        1.0001263618469238\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"5f31529050ee2ff807107ab1848f8290\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"track_light_ltnnrc_1\": {\n                \"class_module\": 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    \"category\": \"wall_socket\",\n                    \"model\": \"nujxel\",\n                    \"scale\": [\n                        1.0000932216644287,\n                        1.0000927448272705,\n                        0.9969304800033569\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"4330b7cb7432ce234b36152b824a146f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_abtbfo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_abtbfo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"abtbfo\",\n                    \"scale\": [\n        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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"8cf95618eba09e45afe87c1d59d4a841\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_buhmrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_buhmrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"buhmrc\",\n                    \"scale\": [\n                        0.9999995231628418,\n                        0.9999675750732422,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n          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\"walls_cvdpaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cvdpaq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cvdpaq\",\n                    \"scale\": [\n                        0.9999979734420776,\n                        0.9999068975448608,\n                        1.000015377998352\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cxsmhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cxsmhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cxsmhr\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9997971057891846,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dewyls_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dewyls_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dewyls\",\n                    \"scale\": [\n             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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1f18407b01312aa0fd583b93adf96e96\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_epketb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_epketb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"epketb\",\n                    \"scale\": [\n                        0.9999929666519165,\n                        0.9999200701713562,\n                        0.9999359250068665\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fwsbwf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fwsbwf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fwsbwf\",\n                    \"scale\": [\n                        1.0001320838928223,\n                        0.9999893307685852,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gishpf_0\": {\n                \"class_module\": 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          \"category\": \"walls\",\n                    \"model\": \"hcbqvq\",\n                    \"scale\": [\n                        0.9998935461044312,\n                        0.9998812675476074,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jemunw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jemunw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jemunw\",\n                    \"scale\": [\n                        0.9999935030937195,\n                       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                \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jnbgxj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jnbgxj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jnbgxj\",\n                    \"scale\": [\n                        0.9999818205833435,\n                        1.000158429145813,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n                    \"bddl_object_scope\": null\n              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\"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lblwvg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lblwvg\",\n                    \"scale\": [\n                        0.999974250793457,\n                        0.9998873472213745,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lovfhw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lovfhw_0\",\n                    \"category\": \"walls\",\n                    \"model\": 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                  ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_miltge_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_miltge_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"miltge\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        0.9999647736549377,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mkgplc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mkgplc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mkgplc\",\n                    \"scale\": [\n                        1.0000089406967163,\n                        1.0001459121704102,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mwlvfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mwlvfb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mwlvfb\",\n                    \"scale\": [\n                        1.0000306367874146,\n                        1.0001626014709473,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oiagxk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oiagxk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oiagxk\",\n                    \"scale\": [\n                        0.9999501705169678,\n                        1.0000206232070923,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oqrbxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oqrbxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oqrbxo\",\n                    \"scale\": [\n                        1.000234842300415,\n                        1.0000065565109253,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_owxeej_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_owxeej_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"owxeej\",\n                    \"scale\": [\n                        0.9999358654022217,\n                        1.000019907951355,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paarsl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paarsl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paarsl\",\n                    \"scale\": [\n                        0.999906599521637,\n                        1.0000128746032715,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pmygxs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pmygxs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pmygxs\",\n                    \"scale\": [\n                        0.999999463558197,\n                        0.9998095035552979,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qeofms_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qeofms_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qeofms\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        0.999953031539917,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rrabdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rrabdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rrabdp\",\n                    \"scale\": [\n                        0.9999839663505554,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uiloru_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uiloru_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uiloru\",\n                    \"scale\": [\n                        0.9999812245368958,\n                        0.9997938871383667,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_umqqmh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_umqqmh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"umqqmh\",\n                    \"scale\": [\n                        1.000093698501587,\n                        0.9998928904533386,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_upttgq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_upttgq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"upttgq\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        1.0000076293945312,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vxveul_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vxveul_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vxveul\",\n                    \"scale\": [\n                        0.9999592900276184,\n                        1.0000137090682983,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_weybsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_weybsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"weybsr\",\n                    \"scale\": [\n                        1.0000098943710327,\n                        0.9999802112579346,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xsubff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xsubff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xsubff\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0000354051589966,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xyrbgy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xyrbgy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xyrbgy\",\n                    \"scale\": [\n                        1.0,\n                        0.9999845027923584,\n                        1.0000032186508179\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ylpkth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ylpkth_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ylpkth\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zdhaff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zdhaff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zdhaff\",\n                    \"scale\": [\n                        1.0000907182693481,\n                        1.0000133514404297,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sandal_75\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sandal_75\",\n                    \"category\": \"sandal\",\n                    \"model\": \"vwbomj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"9a7fbd2df0defa073368ebad91823b57\"\n                }\n            },\n            \"sandal_76\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sandal_76\",\n                    \"category\": \"sandal\",\n                    \"model\": \"dfkzbd\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"5da76f633288d7e69eb3c1d3b830e97b\"\n                }\n            },\n            \"gym_shoe_77\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"gym_shoe_77\",\n                    \"category\": \"gym_shoe\",\n                    \"model\": \"kmcbym\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"62a66664ed73506688c3bb72a18cfa4e\"\n                }\n            },\n            \"gym_shoe_78\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"gym_shoe_78\",\n                    \"category\": \"gym_shoe\",\n                    \"model\": \"mcfcwq\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"9fee3438ec4a233727b14a7b3588a9e3\"\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": 11425,
-    "num_samples": 11425,
-    "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",
-        "gym_shoe.n.01_1_real",
-        "gym_shoe.n.01_1_pos",
-        "gym_shoe.n.01_1_ori_cos",
-        "gym_shoe.n.01_1_ori_sin",
-        "gym_shoe.n.01_1_in_gripper_left",
-        "gym_shoe.n.01_1_in_gripper_right",
-        "gym_shoe.n.01_2_real",
-        "gym_shoe.n.01_2_pos",
-        "gym_shoe.n.01_2_ori_cos",
-        "gym_shoe.n.01_2_ori_sin",
-        "gym_shoe.n.01_2_in_gripper_left",
-        "gym_shoe.n.01_2_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right",
-        "sandal.n.01_1_real",
-        "sandal.n.01_1_pos",
-        "sandal.n.01_1_ori_cos",
-        "sandal.n.01_1_ori_sin",
-        "sandal.n.01_1_in_gripper_left",
-        "sandal.n.01_1_in_gripper_right",
-        "sandal.n.01_2_real",
-        "sandal.n.01_2_pos",
-        "sandal.n.01_2_ori_cos",
-        "sandal.n.01_2_ori_sin",
-        "sandal.n.01_2_in_gripper_left",
-        "sandal.n.01_2_in_gripper_right",
-        "hallstand.n.01_1_real",
-        "hallstand.n.01_1_pos",
-        "hallstand.n.01_1_ori_cos",
-        "hallstand.n.01_1_ori_sin",
-        "hallstand.n.01_1_in_gripper_left",
-        "hallstand.n.01_1_in_gripper_right"
-    ],
-    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/bush_kyghri_0/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_5/base_link/visuals\", \"4\": \"/World/scene_0/bush_cwsigt_6/base_link/visuals\", \"5\": \"/World/scene_0/bush_kyghri_7/base_link/visuals\", \"6\": \"/World/scene_0/bush_kjakgd_1/base_link/visuals\", \"7\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"8\": \"/World/scene_0/gym_shoe_78/base_link/visuals\", \"9\": \"/World/scene_0/gym_shoe_77/base_link/visuals\", \"10\": \"/World/scene_0/sandal_76/base_link/visuals\", \"11\": \"/World/scene_0/sandal_75/base_link/visuals\", \"12\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_miltge_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_mgvxov_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_lovfhw_0/base_link/visuals\", \"33\": 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\"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"51\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"52\": \"/World/scene_0/ceilings_alydei_0/base_link/visuals\", \"53\": \"/World/scene_0/bush_cwsigt_1/base_link/visuals\", \"54\": \"/World/scene_0/bush_cwsigt_9/base_link/visuals\", \"55\": \"/World/scene_0/bush_knspbi_0/base_link/visuals\", \"56\": \"/World/scene_0/bush_kyghri_1/base_link/visuals\", \"57\": \"/World/scene_0/bush_kyghri_8/base_link/visuals\", \"58\": \"/World/scene_0/bush_lfyqkj_6/base_link/visuals\", \"59\": \"/World/scene_0/bush_pjhpwk_3/base_link/visuals\", \"60\": \"/World/scene_0/bush_yhjhta_5/base_link/visuals\", \"61\": \"/World/scene_0/microwave_hjjxmi_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"62\": \"/World/scene_0/microwave_hjjxmi_0/glass/visuals\", \"63\": \"/World/scene_0/microwave_hjjxmi_0/link_0/visuals\", \"64\": \"/World/scene_0/microwave_hjjxmi_0/base_link/visuals\", \"65\": \"/World/scene_0/tree_gmzozb_0/base_link/visuals\", \"66\": \"/World/scene_0/tree_rrhqpw_4/base_link/visuals\", \"67\": \"/World/scene_0/tree_wtyipq_4/base_link/visuals\", \"68\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_4_0_link/visuals/mesh_0\", \"69\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_3_0_link/visuals/mesh_0\", \"70\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_2_0_link/visuals/mesh_0\", \"71\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_1_0_link/visuals/mesh_0\", \"72\": \"/World/scene_0/burner_mdanhg_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"73\": \"/World/scene_0/burner_mdanhg_0/base_link/visuals\", \"74\": \"/World/scene_0/garden_chair_lraplz_0/base_link/visuals\", \"75\": \"/World/scene_0/ceilings_sbkyof_0/base_link/visuals\", \"76\": \"/World/scene_0/door_bexenl_0/leaf/visuals\", \"77\": \"/World/scene_0/door_bexenl_0/base_link/visuals\", \"78\": \"/World/scene_0/downlight_pawfmw_1/base_link/visuals\", \"79\": \"/World/scene_0/downlight_pawfmw_15/base_link/visuals\", \"80\": \"/World/scene_0/downlight_pawfmw_7/base_link/visuals\", \"81\": \"/World/scene_0/electric_switch_strbnw_2/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"82\": \"/World/scene_0/electric_switch_strbnw_2/base_link/visuals\", \"83\": \"/World/scene_0/floors_nbxnpk_0/base_link/visuals\", \"84\": \"/World/scene_0/floors_xorxro_0/base_link/visuals\", \"85\": \"/World/scene_0/garden_light_qyfrwj_4/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"86\": \"/World/scene_0/garden_light_qyfrwj_4/base_link/visuals\", \"87\": \"/World/scene_0/paver_eskaca_0/base_link/visuals\", \"88\": \"/World/scene_0/picture_qlkknu_0/base_link/visuals\", \"89\": \"/World/scene_0/rail_fence_owbrvb_1/base_link/visuals\", \"90\": \"/World/scene_0/stairs_tikozn_0/glass/visuals\", \"91\": \"/World/scene_0/stairs_tikozn_0/base_link/visuals\", \"92\": \"/World/scene_0/wall_socket_nujxel_0/base_link/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"95\": \"/World/scene_0/bush_cwsigt_2/base_link/visuals\", \"96\": \"/World/scene_0/bush_frqici_2/base_link/visuals\", \"97\": \"/World/scene_0/bush_knspbi_2/base_link/visuals\", \"98\": \"/World/scene_0/bush_kyghri_3/base_link/visuals\", \"99\": \"/World/scene_0/bush_lfyqkj_0/base_link/visuals\", \"100\": \"/World/scene_0/bush_oedeqi_1/base_link/visuals\", \"101\": \"/World/scene_0/bush_pjhpwk_4/base_link/visuals\", \"102\": 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diff --git a/meta/episodes/task-0037/episode_00370090.json b/meta/episodes/task-0037/episode_00370090.json
deleted file mode 100644
index 6336e6e3fb85bf6d8918fc22a0520853149b335b..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0037/episode_00370090.json
+++ /dev/null
@@ -1,213 +0,0 @@
-{
-    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": [1.6128703355789185, 1.7241984605789185, 2.0688953399658203], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"}}, \"bottom_cabinet_nddvba_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_nddvba_0\", \"category\": \"bottom_cabinet\", \"model\": \"nddvba\", \"scale\": [0.919100284576416, 1.7930281162261963, 1.75520658493042], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"9f1fd18bd922a604c2790a5372af7d07\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_0\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_1\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_2\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_3\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_4\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_5\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"stairs_tikozn_0\", \"category\": \"stairs\", \"model\": \"tikozn\", \"scale\": [0.9999832510948181, 0.9999979138374329, 1.0000052452087402], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"}}, \"serving_cart_vvtcby_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"serving_cart_vvtcby_0\", \"category\": \"serving_cart\", \"model\": \"vvtcby\", \"scale\": [1.0001310110092163, 0.9999819993972778, 1.0000241994857788], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7e515c32180c748d2194131dacfafc46\"}}, \"bookcase_eckdny_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\", \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b9a03dca22749e6d8d6b5c99991d43e0\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f2d8f633505ed9052077f77d5cc0fbd2\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"91a9e76f3aa2f92c27f44c6ea0ba0feb\"}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c9c67f147daab9c2db7564c7b56f23a4\"}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"649801e0443a618b0fc63e387c021a59\", \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_0\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"9788812cd269401bb9761a98e034f316\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_1\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"9788812cd269401bb9761a98e034f316\", \"bddl_object_scope\": null}}, \"table_lamp_lshxmu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_lshxmu_0\", \"category\": \"table_lamp\", \"model\": \"lshxmu\", 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\"floors_nlswvt_0\",\n                            \"scrub_brush.n.01_1\": \"scrub_brush_86\"\n                        }\n                    }\n                },\n                \"init_info\": {\n                    \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n                    \"class_name\": \"InteractiveTraversableScene\",\n                    \"args\": {\n                        \"scene_model\": \"house_double_floor_upper\",\n                        \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\",\n                        \"scene_file\": null,\n                        \"trav_map_resolution\": 0.1,\n                        \"default_erosion_radius\": 0.0,\n                        \"trav_map_with_objects\": true,\n                        \"num_waypoints\": 10,\n                        \"waypoint_resolution\": 0.2,\n                        \"load_room_types\": null,\n                        \"load_room_instances\": 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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n              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\"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                   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\"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\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\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n 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0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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1.0000733137130737,\n                                    1.0000184774398804,\n                                    1.0000115633010864\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"swivel_chair_iiihwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swivel_chair_iiihwn_0\",\n                                \"category\": 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                   \"args\": {\n                                \"name\": \"table_lamp_erfbgw_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"erfbgw\",\n                                \"scale\": [\n                                    0.9999635219573975,\n                                    0.9999635219573975,\n                                    1.0001020431518555\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"9788812cd269401bb9761a98e034f316\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"table_lamp_erfbgw_1\": {\n              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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\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\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\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\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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      \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                      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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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   \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": 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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                   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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n              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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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              \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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\": 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             ]\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\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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\"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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": 4268,
-    "num_samples": 4268,
-    "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",
-        "cornet.n.01_1_real",
-        "cornet.n.01_1_pos",
-        "cornet.n.01_1_ori_cos",
-        "cornet.n.01_1_ori_sin",
-        "cornet.n.01_1_in_gripper_left",
-        "cornet.n.01_1_in_gripper_right",
-        "scrub_brush.n.01_1_real",
-        "scrub_brush.n.01_1_pos",
-        "scrub_brush.n.01_1_ori_cos",
-        "scrub_brush.n.01_1_ori_sin",
-        "scrub_brush.n.01_1_in_gripper_left",
-        "scrub_brush.n.01_1_in_gripper_right",
-        "desk.n.01_1_real",
-        "desk.n.01_1_pos",
-        "desk.n.01_1_ori_cos",
-        "desk.n.01_1_ori_sin",
-        "desk.n.01_1_in_gripper_left",
-        "desk.n.01_1_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right"
-    ],
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\"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"19\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"20\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"21\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"22\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"32\": 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\ No newline at end of file
diff --git a/meta/episodes/task-0037/episode_00370900.json b/meta/episodes/task-0037/episode_00370900.json
deleted file mode 100644
index c26541554c117a52423d9ecd0f81c86c994ddcac..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0037/episode_00370900.json
+++ /dev/null
@@ -1,212 +0,0 @@
-{
-    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": [1.6128703355789185, 1.7241984605789185, 2.0688953399658203], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"}}, \"bottom_cabinet_nddvba_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_nddvba_0\", \"category\": \"bottom_cabinet\", \"model\": \"nddvba\", \"scale\": [0.919100284576416, 1.7930281162261963, 1.75520658493042], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"9f1fd18bd922a604c2790a5372af7d07\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_0\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_1\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_2\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_3\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_4\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_5\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"stairs_tikozn_0\", \"category\": \"stairs\", \"model\": \"tikozn\", \"scale\": [0.9999832510948181, 0.9999979138374329, 1.0000052452087402], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"}}, \"serving_cart_vvtcby_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"serving_cart_vvtcby_0\", \"category\": \"serving_cart\", \"model\": \"vvtcby\", \"scale\": [1.0001310110092163, 0.9999819993972778, 1.0000241994857788], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7e515c32180c748d2194131dacfafc46\"}}, \"bookcase_eckdny_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\", \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b9a03dca22749e6d8d6b5c99991d43e0\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f2d8f633505ed9052077f77d5cc0fbd2\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"91a9e76f3aa2f92c27f44c6ea0ba0feb\"}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c9c67f147daab9c2db7564c7b56f23a4\"}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"649801e0443a618b0fc63e387c021a59\", \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_0\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"9788812cd269401bb9761a98e034f316\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_erfbgw_1\", \"category\": \"table_lamp\", \"model\": \"erfbgw\", \"scale\": [0.9999635219573975, 0.9999635219573975, 1.0001020431518555], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"9788812cd269401bb9761a98e034f316\", \"bddl_object_scope\": null}}, \"table_lamp_lshxmu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_lshxmu_0\", \"category\": \"table_lamp\", \"model\": \"lshxmu\", \"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3883ce600b8dcf1255d4bbdc6103a5b8\"}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\", \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\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\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\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\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\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\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\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\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\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                           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             ]\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\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"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": 5171,
-    "num_samples": 5171,
-    "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",
-        "cornet.n.01_1_real",
-        "cornet.n.01_1_pos",
-        "cornet.n.01_1_ori_cos",
-        "cornet.n.01_1_ori_sin",
-        "cornet.n.01_1_in_gripper_left",
-        "cornet.n.01_1_in_gripper_right",
-        "scrub_brush.n.01_1_real",
-        "scrub_brush.n.01_1_pos",
-        "scrub_brush.n.01_1_ori_cos",
-        "scrub_brush.n.01_1_ori_sin",
-        "scrub_brush.n.01_1_in_gripper_left",
-        "scrub_brush.n.01_1_in_gripper_right",
-        "desk.n.01_1_real",
-        "desk.n.01_1_pos",
-        "desk.n.01_1_ori_cos",
-        "desk.n.01_1_ori_sin",
-        "desk.n.01_1_in_gripper_left",
-        "desk.n.01_1_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right"
-    ],
-    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"4\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"49\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"50\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"51\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"52\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"56\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"57\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"59\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"60\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"61\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"62\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"69\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"70\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"71\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"72\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"73\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"74\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"75\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"76\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"77\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"78\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"79\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"80\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"81\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"82\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"83\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"84\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"85\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"86\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"88\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"89\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"90\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"91\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"92\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"93\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"94\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"95\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"96\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"97\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"98\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"99\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"100\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"101\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"102\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"103\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"106\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"107\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"108\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"109\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"110\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"111\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"112\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"113\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"114\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"116\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"117\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"123\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"124\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"125\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"126\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"127\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"128\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"129\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"130\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"131\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"132\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"133\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"134\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"141\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"142\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"143\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"144\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"145\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"146\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"147\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"148\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"149\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"150\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"151\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"152\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"153\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"154\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"155\": 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-    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
-        0,
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-    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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-    ]
-}
\ No newline at end of file
diff --git a/meta/episodes/task-0041/episode_00411280.json b/meta/episodes/task-0041/episode_00411280.json
deleted file mode 100644
index 20944491b2d4abda8f24bde3fe739d93c3dd6ef1..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0041/episode_00411280.json
+++ /dev/null
@@ -1,626 +0,0 @@
-{
-    "config": "{\"env\": {\"action_frequency\": 30.0, \"rendering_frequency\": 30.0, \"physics_frequency\": 120.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_single_floor_task_cook_cabbage_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"carving_knife.n.01_1\": \"carving_knife_209\", \"chili.n.02_1\": \"chili_211\", \"chopping_board.n.01_1\": \"cutting_board_210\", \"countertop.n.01_1\": \"countertop_kelker_0\", \"electric_refrigerator.n.01_1\": \"fridge_dszchb_0\", \"floor.n.01_1\": \"floors_kxcpgy_0\", \"frying_pan.n.01_1\": \"frying_pan_208\", \"head_cabbage.n.02_1\": \"head_cabbage_212\", \"plate.n.04_1\": \"plate_207\", \"stove.n.01_1\": \"burner_mjvqii_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_single_floor\", \"scene_instance\": \"house_single_floor_task_cook_cabbage_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_rhdbzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_0\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"entryway_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"}}, \"bottom_cabinet_rhdbzv_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_1\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"entryway_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"}}, \"bottom_cabinet_xqmipa_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_xqmipa_0\", \"category\": \"bottom_cabinet\", \"model\": \"xqmipa\", \"scale\": [0.5479558110237122, 0.5591999888420105, 0.9078033566474915], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"4b3578bf3c15f9900f53ba62b6d7c9dc\"}}, \"bottom_cabinet_no_top_gjrero_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_0\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_1\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_2\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_3\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_4\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.6609978675842285, 1.3523503541946411, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bush_ebuvur_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_ebuvur_0\", \"category\": \"bush\", \"model\": \"ebuvur\", \"scale\": [0.9999991059303284, 1.000010371208191, 0.9999893307685852], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c943c0497915e241b3c7005bb91874cc\"}}, \"bush_ebuvur_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_ebuvur_1\", \"category\": \"bush\", \"model\": \"ebuvur\", \"scale\": [0.9999991059303284, 1.000010371208191, 0.9999893307685852], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c943c0497915e241b3c7005bb91874cc\"}}, \"bush_frqici_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_0\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.5412687063217163, 0.5412584543228149, 0.5412585735321045], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"0827d6854be7240a09c869caeddf5027\"}}, \"bush_knspbi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_0\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_1\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_2\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_3\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_kyghri_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_0\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_1\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_2\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_3\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_lfyqkj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_0\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_1\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_2\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_3\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_4\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_5\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_5\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_pjhpwk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_0\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.9999930262565613, 0.9999948740005493, 0.9999954700469971], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\"}}, \"bush_pjhpwk_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_1\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.9999930262565613, 0.9999948740005493, 0.9999954700469971], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\"}}, \"bush_pjhpwk_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_2\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.9999930262565613, 0.9999948740005493, 0.9999954700469971], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\"}}, \"bush_pjhpwk_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_pjhpwk_3\", \"category\": \"bush\", \"model\": \"pjhpwk\", \"scale\": [0.7209866642951965, 0.7209925651550293, 0.7209813594818115], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\"}}, \"bush_xsqlhv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_xsqlhv_0\", \"category\": \"bush\", \"model\": \"xsqlhv\", \"scale\": [1.0000061988830566, 0.9999860525131226, 1.0000078678131104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_xsqlhv_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_xsqlhv_1\", \"category\": \"bush\", \"model\": \"xsqlhv\", \"scale\": [1.0000061988830566, 0.9999860525131226, 1.0000078678131104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_xsqlhv_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_xsqlhv_2\", \"category\": \"bush\", \"model\": \"xsqlhv\", \"scale\": [1.0000061988830566, 0.9999860525131226, 1.0000078678131104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_xsqlhv_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_xsqlhv_3\", \"category\": \"bush\", \"model\": \"xsqlhv\", \"scale\": [1.0000061988830566, 0.9999860525131226, 1.0000078678131104], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"}}, \"bush_yhjhta_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_0\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.9999868273735046, 0.999997079372406, 0.999981164932251], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"bush_yhjhta_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_yhjhta_1\", \"category\": \"bush\", \"model\": \"yhjhta\", \"scale\": [0.9999868273735046, 0.999997079372406, 0.999981164932251], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"}}, \"car_ssxsje_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"car_ssxsje_0\", \"category\": \"car\", \"model\": \"ssxsje\", \"scale\": [1.0000019073486328, 0.9999808073043823, 1.0000020265579224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garage_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ce18e38beba075d38367f101c1a6b82\"}}, \"car_xxsgpq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"car_xxsgpq_0\", \"category\": \"car\", \"model\": \"xxsgpq\", \"scale\": [1.0000019073486328, 0.9999808073043823, 1.0000020265579224], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"0cd993eadd563bb4d7566d6aa2f67e05\"}}, \"charcoal_grill_crdaeu_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"charcoal_grill_crdaeu_0\", \"category\": \"charcoal_grill\", \"model\": \"crdaeu\", \"scale\": [1.00003182888031, 0.9999886751174927, 1.0082638263702393], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"12597746435ceb178b5cc46ca59f16a3\"}}, 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0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"cook_cabbage\", 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0.6680187582969666\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_lfyqkj_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        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2.0121822357177734\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719199294224381\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"shelf_amyper_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.946971893310547,\n                            7.466673851013184,\n                            0.3727680742740631\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719199294224381\n                        ]\n                    },\n                    \"non_kin\": {}\n                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2.1614654510671016e-15,\n                            0.7071069478988647,\n                            0.7071065902709961\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.72974967956543,\n                            25.27022933959961,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        5.33908436422318e-37\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"sliding_door_tprpvb_5\": {\n                    \"is_asleep\": false,\n 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\"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_1\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_2\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n        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   \"category\": \"ottoman\",\n                                \"model\": \"wkmbra\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    0.9999892115592957,\n                                    0.99988853931427\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c315177b40b3986a408bd3aa80ddfb67\"\n                            }\n                        },\n                        \"pot_plant_bjwskl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\"\n                            }\n                        },\n                        \"pot_plant_lligdl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n          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\"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_cozrjc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_cozrjc_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"cozrjc\",\n                                \"scale\": [\n                                    1.0000355243682861,\n                                    1.000028371810913,\n                                    1.0000559091567993\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_gktknj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_gktknj_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"gktknj\",\n                                \"scale\": [\n                                    0.9999244213104248,\n                                    1.0000261068344116,\n                                    1.000027060508728\n                     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\"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_jgoolz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"f90bf09061a79aba8c8cbe604a03c7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_jgoolz_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_4\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_jgoolz_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_jgoolz_5\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"jgoolz\",\n                                \"scale\": [\n                                    0.9999670386314392,\n                                    0.9999598860740662,\n                                    0.9999731183052063\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_rljebp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_rljebp_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"rljebp\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    1.000101089477539,\n                                    0.9999748468399048\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b9e81235f1ffbbd0fc62010c797ac7da\"\n                            }\n                        },\n                        \"straight_chair_rljebp_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_rljebp_1\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"rljebp\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    1.000101089477539,\n                                    0.9999748468399048\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b9e81235f1ffbbd0fc62010c797ac7da\"\n                            }\n                        },\n                        \"swivel_chair_tbzfgf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"table_lamp_qgdwbh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_qgdwbh_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"qgdwbh\",\n                                \"scale\": [\n                                    0.9999149441719055,\n                                    0.9999149441719055,\n                                    0.9999114274978638\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f295e43bdde826b4ad3c9178f43479d6\"\n                            }\n                        },\n                        \"table_lamp_qgdwbh_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_qgdwbh_1\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"qgdwbh\",\n                                \"scale\": [\n                                    0.9999149441719055,\n                                    0.9999149441719055,\n                                    0.9999114274978638\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f295e43bdde826b4ad3c9178f43479d6\"\n                            }\n                        },\n                        \"table_lamp_uupwiq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"table_lamp_uupwiq_0\",\n                                \"category\": \"table_lamp\",\n                                \"model\": \"uupwiq\",\n                                \"scale\": [\n                                    0.9999452233314514,\n                                    0.9999451041221619,\n                                    0.9999746084213257\n                                ],\n                                \"fixed_base\": 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0.9995139241218567\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"43de6d1771691f13e96124dcaff302d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tcwyvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tcwyvb_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tcwyvb\",\n                                \"scale\": [\n       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 \"args\": {\n                                \"name\": \"ceilings_wbbkuv_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"wbbkuv\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9999978542327881,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"ceab944ad9d1ec4ea556be3f12c1186d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_fjkase_0\": {\n                            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\"scale\": [\n                                    1.0000237226486206,\n                                    1.000012755393982,\n                                    0.9999550580978394\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40cd413884bbd69ad143a52a75e98362\"\n                            }\n                        },\n                        \"door_crtrpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_crtrpa_0\",\n                                \"category\": \"door\",\n                                \"model\": \"crtrpa\",\n                                \"scale\": [\n                                    1.0000602006912231,\n                                    1.0000410079956055,\n                                    0.9999841451644897\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"95f875bd753451b9fd324c8ab551af5d\"\n                            }\n                        },\n                        \"door_eduavq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n       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                             \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"755e7ef2f164ceb2f60a0b07c9253710\"\n                            }\n                        },\n                        \"door_iuuykr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_iuuykr_0\",\n                                \"category\": \"door\",\n                                \"model\": \"iuuykr\",\n                                \"scale\": [\n                                    1.000057339668274,\n                                    1.0000216960906982,\n                                    1.0000015497207642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4f63912343f9527f78fdb0bdcf0962c\"\n                            }\n                        },\n                        \"door_kwbnhy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_0\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0001516342163086,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_1\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.007671594619751,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_2\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    0.9946825504302979,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_3\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0890235900878906,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_tfdrhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tfdrhh_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tfdrhh\",\n                                \"scale\": [\n                                    1.0001115798950195,\n                                    1.0000137090682983,\n                                    0.9999946355819702\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bde00d008f88f164609418d516335b1b\"\n                            }\n                        },\n                        \"door_tonlzz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tonlzz_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tonlzz\",\n                                \"scale\": [\n                                    1.0001226663589478,\n                                    1.000045895576477,\n                                    0.9999911189079285\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\",\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"45ed1765b26e97c4213bb7dad0a765ea\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": 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                \"args\": {\n                                \"name\": \"downlight_fisfbn_10\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_13\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": 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                 \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c1bb38cf03056ccc35dfe8ee845bf9d5\"\n                            }\n                        },\n                        \"downlight_nlhffs_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.0003280639648438,\n   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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_16\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                    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                               \"name\": \"electric_switch_gashan_18\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_19\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_21\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                   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            \"expected_file_hash\": \"d06ac5c75d853d8750a79d60988b1e44\"\n                            }\n                        },\n                        \"fixed_window_xkxvpp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_xkxvpp_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"xkxvpp\",\n                                \"scale\": [\n                                    1.0000040531158447,\n                                    0.9999668598175049,\n                                    0.999991774559021\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                    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\"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e5ab1f0a0b691cb6a7866f356d91f4e8\"\n                            }\n                        },\n                        \"floors_hkdmte_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_hkdmte_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"hkdmte\",\n                                \"scale\": [\n                                    0.9999957084655762,\n                                    1.0000003576278687,\n                                    0.9999340772628784\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f0bdd1277f5079b19d8f7297a614e137\"\n                            }\n                        },\n                        \"floors_htolat_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_htolat_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"htolat\",\n                                \"scale\": [\n                                    1.0000059604644775,\n                                    0.9999916553497314,\n                                    0.9999321699142456\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3697fc1addfd00e556a38cfccb757e22\"\n                            }\n                        },\n                        \"floors_khjmrr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_khjmrr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"khjmrr\",\n                                \"scale\": [\n                                    1.0000009536743164,\n                                    1.000001072883606,\n                                    0.9999980926513672\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\": \"daa465a32d288ea54dd413eacd6943f5\"\n                            }\n                        },\n                        \"floors_kxcpgy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_kxcpgy_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"kxcpgy\",\n                                \"scale\": [\n                                    1.000005841255188,\n                                    1.0000033378601074,\n                                    1.0001105070114136\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"582d41401860327bcef6532271d291c7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_lltizc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"expected_file_hash\": \"6447a1c78795e92bb26618ee912a9468\"\n                            }\n                        },\n                        \"floors_pyoemr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_pyoemr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"pyoemr\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.000001072883606,\n                                    0.9998313188552856\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"1b6e6970f71032c06915d3b050104761\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_qnvzkr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_qnvzkr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"qnvzkr\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.000004529953003,\n                        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  \"category\": \"floors\",\n                                \"model\": \"sirgua\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    1.0000005960464478,\n                                    1.00011146068573\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"ef0ecacce2c727dbf22114f77cb024c9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_uftgek_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_uftgek_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"uftgek\",\n                                \"scale\": [\n                                    1.0000008344650269,\n                                    1.0000061988830566,\n                                    0.9999038577079773\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"442e04a8ec798f2104d1d6d2cec99c29\"\n                            }\n                        },\n                        \"floors_uzsntg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_uzsntg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"uzsntg\",\n                                \"scale\": [\n                                    0.9999973177909851,\n                                    1.0000057220458984,\n                                    0.9999462366104126\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_vcsslq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vcsslq_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vcsslq\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.0000070333480835,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"70c0007261d4b8bfee86dd0c6d617792\"\n                            }\n                        },\n                        \"floors_vmamhf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vmamhf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vmamhf\",\n                                \"scale\": [\n                                    1.0000053644180298,\n                                    1.0000113248825073,\n                                    0.9999330043792725\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"489028e664d381656f3fd50e9f1fdebc\"\n                            }\n                        },\n                        \"floors_wkdxrr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_wkdxrr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"wkdxrr\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.999998152256012,\n                                    0.9999285936355591\n     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0.9999967217445374,\n                                    1.0000355243682861,\n                                    0.9999294877052307\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2e85d67047cf2bbef8d9e26d6c1c1658\"\n                            }\n                        },\n                        \"floors_yibjol_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_yibjol_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"yibjol\",\n                                \"scale\": [\n                                    1.0000231266021729,\n                                    0.9999783039093018,\n                                    0.9999303221702576\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"08f63caa06c762c29314321e6d530379\"\n                            }\n                        },\n                        \"floors_yrqspn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": 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                         }\n                        },\n                        \"lawn_wwoqjw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_wwoqjw_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"wwoqjw\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1cd4240cdd133735efa4c44b73ecfdf8\"\n                            }\n                        },\n                        \"mirror_catitv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_catitv_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"catitv\",\n                                \"scale\": [\n                                    0.9931772351264954,\n                                    1.000032901763916,\n                                    0.9999788403511047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                    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\"expected_file_hash\": \"a9ece4b9fa4766ad3c98f267413881b2\"\n                            }\n                        },\n                        \"mirror_ndvgah_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ndvgah_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ndvgah\",\n                                \"scale\": [\n                                    0.9933433532714844,\n                                    1.0000016689300537,\n                                    1.0000172853469849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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    \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.9999943971633911,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b503c4c61c37fc3850ad53c64038c0a\"\n                            }\n                        },\n                        \"nightstand_wbxekb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n               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\"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e34a94e1d82b76b0ae1e4a36c66c936\"\n                            }\n                        },\n                        \"oven_ffitak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"oven_ffitak_0\",\n                                \"category\": \"oven\",\n                                \"model\": \"ffitak\",\n                                \"scale\": [\n                                    0.9999300241470337,\n                                    1.0000790357589722,\n                                    1.000065803527832\n                                ],\n                                \"fixed_base\": true,\n                  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        0.9997385144233704\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"18c01c829a9938e7b32d5e672579d134\"\n                            }\n                        },\n                        \"painting_fqlxxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_fqlxxd_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"fqlxxd\",\n                                \"scale\": 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          \"category\": \"painting\",\n                                \"model\": \"fwuole\",\n                                \"scale\": [\n                                    1.0001332759857178,\n                                    0.9999703168869019,\n                                    0.9999935626983643\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4ddf6588a91f758469d81ae82b0200a\"\n                            }\n                        },\n                        \"painting_gardkz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"expected_file_hash\": \"8821bdcbaa841388909a54490635ad87\"\n                            }\n                        },\n                        \"painting_jreujf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_jreujf_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"jreujf\",\n                                \"scale\": [\n                                    0.9992155432701111,\n                                    1.000004529953003,\n                                    0.999982476234436\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                             \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"55ed16e549820c10552c4c60cedb369d\"\n                            }\n                        },\n                        \"painting_msquxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_msquxr_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"msquxr\",\n                                \"scale\": [\n                                    1.0006734132766724,\n                                    1.0000486373901367,\n                                    1.000325083732605\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5c94ec577732c0783fe2d361cb1dab05\"\n                            }\n                        },\n                        \"painting_tkcdhf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_tkcdhf_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"tkcdhf\",\n                                \"scale\": [\n                                    1.0006471872329712,\n                                    0.9998884201049805,\n                                    0.9999988675117493\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"515e632b2faeaf25d09ff3c3dd9d0c0a\"\n                            }\n                        },\n                        \"painting_wduwwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_wduwwo_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"wduwwo\",\n                                \"scale\": [\n                                    1.0067205429077148,\n                                    0.9999809861183167,\n                                    0.9999308586120605\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6969552748bedabc9d9be92995cf4596\"\n                            }\n                        },\n                        \"painting_wwnloz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_wwnloz_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"wwnloz\",\n                                \"scale\": [\n                                    1.0006263256072998,\n                                    1.0002787113189697,\n                                    1.0003252029418945\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"391a3ff28bc83978a533078c656e9804\"\n                            }\n                        },\n                        \"painting_xpxncg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_xpxncg_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"xpxncg\",\n                                \"scale\": [\n                                    0.9995970129966736,\n                                    1.00011146068573,\n                                    0.9999065399169922\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8ab5b790e507c6217d07c039c251834a\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                              \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_3\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                             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\"expected_file_hash\": \"2d9bba265cf1490672f45665bd172fe2\"\n                            }\n                        },\n                        \"roof_amxayl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"roof_amxayl_0\",\n                                \"category\": \"roof\",\n                                \"model\": \"amxayl\",\n                                \"scale\": [\n                                    0.9999976754188538,\n                                    0.9999983310699463,\n                                    0.9999141693115234\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd9e148e519f1028aa308d9df652be80\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"roof_jqqtaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"roof_jqqtaq_0\",\n                                \"category\": \"roof\",\n                                \"model\": \"jqqtaq\",\n                                \"scale\": [\n                                    1.0000015497207642,\n                                    1.0000005960464478,\n                                    0.999950647354126\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7ffd7aab050722aedfd7779af372a434\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_hqxyvs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_hqxyvs_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"hqxyvs\",\n                                \"scale\": [\n                                    1.0000630617141724,\n                                    0.9999338984489441,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"7c47f35a085054721abfd4261c9fc9ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_podyre_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_podyre_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"podyre\",\n                                \"scale\": [\n                                    0.9999228715896606,\n                                    0.9999228715896606,\n                           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    \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                 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                             ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_5\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_6\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_7\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_8\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        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        ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4480c4756df602743a177feda1edd520\"\n                            }\n                        },\n                        \"shelf_pfusrd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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                     ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_qkgvsz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_qkgvsz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"qkgvsz\",\n                                \"scale\": [\n                                    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                 \"args\": {\n                                \"name\": \"showerhead_lrfpvk_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"lrfpvk\",\n                                \"scale\": [\n                                    0.9998265504837036,\n                                    1.0000230073928833,\n                                    1.000001072883606\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c7e7022641839c1a95cb5fe07b621e69\"\n                            }\n                        },\n                        \"showerhead_vbijwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vbijwn_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vbijwn\",\n                                \"scale\": [\n                                    0.9999907612800598,\n                                    1.0001437664031982,\n                                    0.9999953508377075\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0dc0cc62bedbf477aa9a12b4f42d6c5d\"\n                            }\n                        },\n                        \"showerhead_vuswbv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vuswbv_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vuswbv\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000184416770935,\n                                    0.9999966621398926\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40f822e4cc6c86f07b2b79ff42032cce\"\n                            }\n                        },\n                        \"sliding_door_lrvyvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_lrvyvc_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"lrvyvc\",\n                                \"scale\": [\n                                    0.9999122023582458,\n                                    1.000001072883606,\n                                    1.0000181198120117\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"bd352e7c99702cfb43a99090af6ff865\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0000165700912476,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_1\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0632356405258179,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_10\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.001861810684204,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_11\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.088773250579834,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_12\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.2041987180709839,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_2\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.828336775302887,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_3\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9631685018539429,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_4\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.748390257358551,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_5\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0907971858978271,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_6\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.099666953086853,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_7\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.115620493888855,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_8\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.7850596904754639,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_9\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9854320883750916,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sofa_hiphpn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_hiphpn_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"hiphpn\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000008463859558,\n                                    1.0000444650650024\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"4434b1834510c5d500b67d4407632beb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_wnzdke_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_wnzdke_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"wnzdke\",\n                                \"scale\": [\n                                    0.9999887943267822,\n                                    1.0000040531158447,\n                                    0.9999432563781738\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"3c0b5e23c7f8c9c4405608fa1087efa2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"swimming_pool_vnvmkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swimming_pool_vnvmkx_0\",\n                                \"category\": \"swimming_pool\",\n                                \"model\": \"vnvmkx\",\n                                \"scale\": [\n                                    0.9999980926513672,\n                                    1.0000009536743164,\n                                    1.0000349283218384\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\": \"c642b5b35bb27ae4ec06b4262e041ce7\"\n                            }\n                        },\n                        \"tabletop_sink_qnequy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_0\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"qnequy\",\n                                \"scale\": [\n                                    1.000011920928955,\n                                    0.9999924302101135,\n                                    0.9999474287033081\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\": \"2a2ab89a4970206e129a0d7ba6b76c00\"\n                            }\n                        },\n                        \"tabletop_sink_qnequy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_1\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"qnequy\",\n                                \"scale\": [\n                                    1.000011920928955,\n                                    0.9999924302101135,\n                                    0.9999474287033081\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\": \"2a2ab89a4970206e129a0d7ba6b76c00\"\n                            }\n                        },\n                        \"tabletop_sink_vekaaf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_vekaaf_0\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"vekaaf\",\n                                \"scale\": [\n                                    1.0000910758972168,\n                                    1.0000029802322388,\n                                    1.0000871419906616\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2d9c186f78dbddd37e6a4d6f0ef1dcf5\"\n                            }\n                        },\n                        \"top_cabinet_lkxmne_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_0\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_1\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_2\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": 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 \"name\": \"wall_clock_oqmbtp_0\",\n                                \"category\": \"wall_clock\",\n                                \"model\": \"oqmbtp\",\n                                \"scale\": [\n                                    1.0004478693008423,\n                                    1.000062108039856,\n                                    0.9999592900276184\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d60ae31dfcab0beb701c1263c7646ff8\"\n                            }\n                        },\n                        \"wall_mounted_light_bkaivt_0\": {\n                            \"class_module\": 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\"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"abee891e10a4db6b6281e0525861d811\"\n                            }\n                        },\n                        \"wall_mounted_light_urhftt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_urhftt_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"urhftt\",\n                                \"scale\": [\n                                    1.0001182556152344,\n                                    0.9999893307685852,\n                                    0.9996898174285889\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\": \"d61277c3bc2e2176fef5d4514973404b\"\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n          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                    \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_2\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_3\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_4\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_leeqgt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_leeqgt_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"leeqgt\",\n                                \"scale\": [\n                                    1.000305414199829,\n                                    0.9999998807907104,\n                                    0.9999710321426392\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e70eaf770a4567ca7f443691c0fd24c5\"\n                            }\n                        },\n                        \"wall_mounted_tv_ovzajm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_ovzajm_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"ovzajm\",\n                                \"scale\": [\n                                    1.0003174543380737,\n                                    0.9999998211860657,\n                                    0.999970555305481\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"1aaa72b1c6322397419b6a7eb0a39e44\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_aescmv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_aescmv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"aescmv\",\n                                \"scale\": [\n                                    0.9999967813491821,\n                                    0.9998936653137207,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f80192366bb5f121c924853d14207467\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ahpkeh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ahpkeh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ahpkeh\",\n                                \"scale\": [\n                                    1.0000147819519043,\n                                    0.9997085332870483,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_akntsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_akntsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"akntsr\",\n                                \"scale\": [\n                                    0.9997666478157043,\n                                    1.0000017881393433,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"72531b959dc77bfb73f467da9a4171a7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_anepvh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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},\n                        \"walls_bqocyc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bqocyc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bqocyc\",\n                                \"scale\": [\n                                    0.9998852014541626,\n                                    1.0000405311584473,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"62b1b6c63c549257897578d856342d87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_btcoak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_btcoak_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"btcoak\",\n                                \"scale\": [\n                                    1.0000944137573242,\n                                    0.9999912977218628,\n                                    0.9999747276306152\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"44b642c7536ebe3fc1c503090c878bb5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chsrxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chsrxr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chsrxr\",\n                                \"scale\": [\n                                    0.9999439120292664,\n                                    1.000038981437683,\n                                    1.0000029802322388\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                      \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cjxcfc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cjxcfc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cjxcfc\",\n                                \"scale\": [\n                                    1.000046730041504,\n                                    1.0000485181808472,\n                                    1.0000022649765015\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"23a96da372595b820f6035da5f9a9938\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cnlgjq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnlgjq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnlgjq\",\n                                \"scale\": [\n                                    1.0000011920928955,\n                                    1.000003457069397,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cnqnew_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnqnew_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnqnew\",\n                                \"scale\": [\n                                    1.0000557899475098,\n                                    1.0002148151397705,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d3258eab8d551aba28a9ee8b51360738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dhsptd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dhsptd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dhsptd\",\n                                \"scale\": [\n                                    0.9999762773513794,\n                                    1.0000284910202026,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cbbb802d0f52baadf58d3d2aa418845a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dmdnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dmdnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dmdnmr\",\n                                \"scale\": [\n                                    1.0000286102294922,\n                                    0.9999963045120239,\n                                    0.9999678730964661\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9af97d00962f863dbe89537b4cd5194a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duatwe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duatwe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duatwe\",\n                                \"scale\": [\n                                    1.0000064373016357,\n                                    0.9996722340583801,\n                                    1.0001468658447266\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duepvi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duepvi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duepvi\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9998845458030701,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_esuxme_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_esuxme_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"esuxme\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    1.0000441074371338\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"36c02cbeae814d6f06fdab82fde9362e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_evgaml_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_evgaml_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"evgaml\",\n                                \"scale\": [\n                                    1.0001057386398315,\n                                    0.9999967813491821,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"81c6b5c2d9bb69d4307df03c7bf8fbf3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fdxtnx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fdxtnx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fdxtnx\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    0.9998922348022461,\n                                    0.9998988509178162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3b9394cc62a797d6e72d377abc84eb7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ffeqfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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{\n                                \"name\": \"walls_fglkmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fglkmr\",\n                                \"scale\": [\n                                    0.9999951124191284,\n                                    1.0000271797180176,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fkmigx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_frgwwc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"frgwwc\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    1.0000317096710205,\n                                    1.0000046491622925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fuiqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fuiqpw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fuiqpw\",\n                                \"scale\": [\n                                    0.9999467730522156,\n                                    1.000038743019104,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fvckzc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fvckzc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fvckzc\",\n                                \"scale\": [\n                                    0.9998689293861389,\n                                    0.9999626278877258,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxeanq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxeanq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxeanq\",\n                                \"scale\": [\n                                    0.9999138712882996,\n                                    0.999982476234436,\n                                    1.0000100135803223\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxofyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxofyj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxofyj\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999547004699707,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fyjrnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fyjrnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fyjrnv\",\n                                \"scale\": [\n                                    0.999866783618927,\n                                    0.9999337792396545,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ggtriw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ggtriw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ggtriw\",\n                                \"scale\": [\n                                    1.0001455545425415,\n                                    0.9999977946281433,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gjrlnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gjrlnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gjrlnv\",\n                                \"scale\": [\n                                    0.9999542236328125,\n                                    1.000038743019104,\n                                    1.0000239610671997\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmbnp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmbnp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmbnp\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000717639923096,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmwvy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmwvy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmwvy\",\n                                \"scale\": [\n                                    1.0000468492507935,\n                                    0.9999639987945557,\n                                    0.9999344944953918\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkwemu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkwemu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkwemu\",\n                                \"scale\": [\n                                    0.9997715950012207,\n                                    0.9999929666519165,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gmwqcf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gmwqcf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gmwqcf\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    1.0000061988830566,\n                                    1.0005370378494263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gpfsgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gpfsgj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gpfsgj\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000206232070923,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_grbaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_grbaxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"grbaxo\",\n                                \"scale\": [\n                                    0.9998166561126709,\n                                    0.9999743700027466,\n                                    0.9999679923057556\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gupuvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gupuvk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gupuvk\",\n                                \"scale\": [\n                                    0.9999587535858154,\n                                    1.000302791595459,\n                                    1.0000627040863037\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_guxxwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_guxxwh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"guxxwh\",\n                                \"scale\": [\n                                    0.9998859167098999,\n                                    1.0000396966934204,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hajmoj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hajmoj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hajmoj\",\n                                \"scale\": [\n                                    1.000004768371582,\n                                    0.9999983310699463,\n                                    0.9999830722808838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hbacbx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hbacbx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hbacbx\",\n                                \"scale\": [\n                                    1.0000141859054565,\n                                    1.000041127204895,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hczqhb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hczqhb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hczqhb\",\n                                \"scale\": [\n                                    1.0000282526016235,\n                                    0.999974250793457,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hfxeuh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hfxeuh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hfxeuh\",\n                                \"scale\": [\n                                    0.9997124075889587,\n                                    0.9999848008155823,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hgaazx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hgaazx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hgaazx\",\n                                \"scale\": [\n                                    0.9999676942825317,\n                                    0.9998993277549744,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hhbfdf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hhbfdf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hhbfdf\",\n                                \"scale\": [\n                                    1.000022292137146,\n                                    0.9999868273735046,\n                                    0.9999457001686096\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9960886844249e083693960659d27b9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hoyudj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hoyudj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hoyudj\",\n                                \"scale\": [\n                                    1.000164270401001,\n                                    0.9999976754188538,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hqkpgu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hqkpgu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hqkpgu\",\n                                \"scale\": [\n                                    1.000036597251892,\n                                    0.9997795820236206,\n                                    1.000002384185791\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_htpoqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_htpoqj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"htpoqj\",\n                                \"scale\": [\n                                    1.0000275373458862,\n                                    1.000287413597107,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hwzmyf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hwzmyf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hwzmyf\",\n                                \"scale\": [\n                                    1.0001691579818726,\n                                    1.0000174045562744,\n                                    1.0000296831130981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzepkq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzepkq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzepkq\",\n                                \"scale\": [\n                                    0.9999510049819946,\n                                    1.0000250339508057,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"10c5b4dd10d4847c59e303cae4030781\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzhlyw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzhlyw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzhlyw\",\n                                \"scale\": [\n                                    1.0000052452087402,\n                                    0.9999136924743652,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ipoatq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ipoatq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ipoatq\",\n                                \"scale\": [\n                                    0.9999895095825195,\n                                    0.9999748468399048,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9524088e62530e5bd8aa66f24a066be2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_isnclr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_isnclr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"isnclr\",\n                                \"scale\": [\n                                    0.9999971985816956,\n                                    0.9999990463256836,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ivezzr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ivezzr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ivezzr\",\n                                \"scale\": [\n                                    0.999926745891571,\n                                    1.000006914138794,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_izcwsg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_izcwsg_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"jshqhr\",\n                                \"scale\": [\n                                    1.0000842809677124,\n                                    1.0000399351119995,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9805d60e2b8222dc7daf2c2bb8973ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jxctiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jxctiw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jxctiw\",\n                                \"scale\": [\n                                    1.0003010034561157,\n                                    0.9999635815620422,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"891db01abb2fbf36c15289cfedc300a5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_khkkca_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_khkkca_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"khkkca\",\n                                \"scale\": [\n                                    0.9999955892562866,\n                                    0.9997677803039551,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a74ec553a652e9d7d5b718a230983971\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_kkltnz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_kkltnz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"kkltnz\",\n                                \"scale\": [\n                                    0.9999747276306152,\n                                    1.0001676082611084,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_knhryu_0\": {\n                            \"class_module\": 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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ktvxpa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ktvxpa\",\n                                \"scale\": [\n                                    1.0000466108322144,\n                                    1.000028133392334,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7eb94ce67345cc5f24e070cd9eb436d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lbxvwa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lbxvwa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lbxvwa\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000089406967163,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lmjkkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lmjkkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lmjkkp\",\n                                \"scale\": [\n                                    0.9999988079071045,\n                                    0.9998951554298401,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ltqrqp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ltqrqp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ltqrqp\",\n                                \"scale\": [\n                                    1.0001306533813477,\n                                    0.9999893307685852,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lveewk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lveewk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lveewk\",\n                                \"scale\": [\n                                    0.9999539852142334,\n                                    0.9998413920402527,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lxqjnd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lxqjnd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lxqjnd\",\n                                \"scale\": [\n                                    1.0001026391983032,\n                                    0.9999812841415405,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lzkdkf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lzkdkf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lzkdkf\",\n                                \"scale\": [\n                                    1.0000964403152466,\n                                    0.9999716877937317,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgwnwy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgwnwy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgwnwy\",\n                                \"scale\": [\n                                    0.9999656677246094,\n                                    1.0001095533370972,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mianco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mianco_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mianco\",\n                                \"scale\": [\n                                    1.0000030994415283,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mxhvpj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mxhvpj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mxhvpj\",\n                                \"scale\": [\n                                    0.9999787211418152,\n                                    1.0001676082611084,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nfmhed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nfmhed_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nfmhed\",\n                                \"scale\": [\n                                    0.9999906420707703,\n                                    1.0001713037490845,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nhvigl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nhvigl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nhvigl\",\n                                \"scale\": [\n                                    1.0002909898757935,\n                                    0.9999896883964539,\n                                    1.0000035762786865\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_noclci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_noclci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"noclci\",\n                                \"scale\": [\n                                    1.0002578496932983,\n                                    0.9999694228172302,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nuaoac_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nuaoac_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nuaoac\",\n                                \"scale\": [\n                                    1.000181794166565,\n                                    0.9999966621398926,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oehfxy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oehfxy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oehfxy\",\n                                \"scale\": [\n                                    1.000117301940918,\n                                    1.0000636577606201,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olxjsy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olxjsy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olxjsy\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    0.9997128248214722,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olywna_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olywna_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olywna\",\n                                \"scale\": [\n                                    0.9999077916145325,\n                                    1.0000104904174805,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ondmvj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ondmvj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ondmvj\",\n                                \"scale\": [\n                                    1.0001270771026611,\n                                    1.0000394582748413,\n                                    0.9999598860740662\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_onwdhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_onwdhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"onwdhr\",\n                                \"scale\": [\n                                    0.999975860118866,\n                                    0.9998258948326111,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ooixcz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ooixcz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ooixcz\",\n                                \"scale\": [\n                                    1.0000063180923462,\n                                    1.0000216960906982,\n                                    0.9999969005584717\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oyhdlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oyhdlq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oyhdlq\",\n                                \"scale\": [\n                                    0.9998031258583069,\n                                    1.0000176429748535,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paognv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paognv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paognv\",\n                                \"scale\": [\n                                    1.000030517578125,\n                                    1.0002267360687256,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pdahqy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pdahqy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pdahqy\",\n                                \"scale\": [\n                                    0.9997052550315857,\n                                    1.0000066757202148,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pofjys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pofjys_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pofjys\",\n                                \"scale\": [\n                                    1.0000216960906982,\n                                    1.000051498413086,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pozods_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pozods_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pozods\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.0000290870666504,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pwjyds_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pwjyds_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pwjyds\",\n                                \"scale\": [\n                                    1.000086784362793,\n                                    0.9999912977218628,\n                                    0.9999852776527405\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qlnqyd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qlnqyd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qlnqyd\",\n                                \"scale\": [\n                                    1.0002201795578003,\n                                    1.0000241994857788,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpkfgi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpkfgi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpkfgi\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    0.9999968409538269\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpxhxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpxhxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpxhxd\",\n                                \"scale\": [\n                                    1.0000958442687988,\n                                    0.9999675750732422,\n                                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1.0001133680343628,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qzwuwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qzwuwo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qzwuwo\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999549388885498,\n                                    1.000033974647522\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7bc0aa5cd7be5459dbdc22194f61bb61\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rdcvhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rdcvhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rdcvhx\",\n                                \"scale\": [\n                                    0.9998269081115723,\n                                    0.999972403049469,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"200060273e5ec27a175a1f8b2d8a2558\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rfpiin_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rfpiin_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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\"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_snssjy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"snssjy\",\n                                \"scale\": [\n                                    0.9999773502349854,\n                                    1.0001850128173828,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_somuet_0\": {\n                            \"class_module\": 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  }\n                        },\n                        \"walls_soubdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_soubdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"soubdp\",\n                                \"scale\": [\n                                    0.9998795390129089,\n                                    1.000030517578125,\n                                    1.0000603199005127\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tcizfi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tcizfi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tcizfi\",\n                                \"scale\": [\n                                    1.0000131130218506,\n                                    1.0001007318496704,\n                                    0.9999462962150574\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                    \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_thipzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_thipzw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"thipzw\",\n                                \"scale\": [\n                                    1.000144362449646,\n                                    0.9999874234199524,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tlcifm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tlcifm_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tlcifm\",\n                                \"scale\": [\n                                    0.9999516606330872,\n                                    0.9999920129776001,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tvjrao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tvjrao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tvjrao\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9997362494468689,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tyjlww_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tyjlww_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tyjlww\",\n                                \"scale\": [\n                                    0.999956488609314,\n                                    1.0001850128173828,\n                                    0.9999752640724182\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubgakb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubgakb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubgakb\",\n                                \"scale\": [\n                                    0.9999848008155823,\n                                    1.0,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubscrh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubscrh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubscrh\",\n                                \"scale\": [\n                                    1.0000135898590088,\n                                    0.9998775124549866,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udgvuj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udgvuj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udgvuj\",\n                                \"scale\": [\n                                    0.9998785257339478,\n                                    0.9998557567596436,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udqkcs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udqkcs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udqkcs\",\n                                \"scale\": [\n                                    0.9999690055847168,\n                                    0.9999529719352722,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uplnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uplnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uplnmr\",\n                                \"scale\": [\n                                    1.0001013278961182,\n                                    0.9999964237213135,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_urngpl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_urngpl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"urngpl\",\n                                \"scale\": [\n                                    0.9999960660934448,\n                                    1.0001499652862549,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uubhfj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uubhfj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uubhfj\",\n                                \"scale\": [\n                                    0.9999725222587585,\n                                    0.9998858571052551,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uuxqzk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uuxqzk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uuxqzk\",\n                                \"scale\": [\n                                    0.9997155070304871,\n                                    0.999993085861206,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uvgxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uvgxro_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uvgxro\",\n                                \"scale\": [\n                                    1.0002046823501587,\n                                    1.000001311302185,\n                                    0.9999594688415527\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4b71fb277cb8a29dd1e2d93b0b0468a2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxcfbp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxcfbp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxcfbp\",\n                                \"scale\": [\n                                    1.0000423192977905,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"efd75340071552b755b0435ac75ba5a3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxgkxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxgkxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxgkxd\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    0.9999704957008362,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uzxqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uzxqqb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uzxqqb\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    1.0001778602600098,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcftmx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcftmx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcftmx\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0001753568649292,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4357a4a2486598714769f21d93f3eb4b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcgulk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcgulk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcgulk\",\n                                \"scale\": [\n                                    1.000012755393982,\n                                    1.0000059604644775,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vdywfg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vdywfg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vdywfg\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0002204179763794,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vfibix_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vfibix_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vfibix\",\n                                \"scale\": [\n                                    1.0000523328781128,\n                                    1.0000444650650024,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vmsoas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vmsoas_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vmsoas\",\n                                \"scale\": [\n                                    1.0000299215316772,\n                                    1.0000975131988525,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b6a6936fa0668ebbc73da82e30e4d8bd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vpuhwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vpuhwn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vpuhwn\",\n                                \"scale\": [\n                                    0.99983149766922,\n                                    1.0000014305114746,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wbjwyy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wbjwyy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wbjwyy\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.9999871253967285,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_1\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                  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      \"args\": {\n                                \"name\": \"walls_wjlqlb_3\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_4\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_5\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_6\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wrodjv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wrodjv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wrodjv\",\n                                \"scale\": [\n                                    1.0002094507217407,\n                                    1.0000132322311401,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wtpbpe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wtpbpe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wtpbpe\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    1.0002048015594482,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wveiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wveiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wveiea\",\n                                \"scale\": [\n                                    1.0000367164611816,\n                                    1.0000665187835693,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xbotyv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xbotyv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xbotyv\",\n                                \"scale\": [\n                                    0.999990701675415,\n                                    0.9999972581863403,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xjxddw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xjxddw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xjxddw\",\n                                \"scale\": [\n                                    1.000271201133728,\n                                    1.0000120401382446,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xnutie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xnutie_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xnutie\",\n                                \"scale\": [\n                                    0.9999076724052429,\n                                    0.9999979138374329,\n                                    0.9999707937240601\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ybcyqk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ybcyqk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ybcyqk\",\n                                \"scale\": [\n                                    1.0002689361572266,\n                                    1.0000149011611938,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zfhsih_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zfhsih_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zfhsih\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999537467956543,\n                                    1.0000230073928833\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zpjckn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zpjckn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zpjckn\",\n                                \"scale\": [\n                                    0.9999418258666992,\n                                    1.00014328956604,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zqexop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zqexop_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zqexop\",\n                                \"scale\": [\n                                    0.9999964833259583,\n                                    0.999962329864502,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zufhrv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zufhrv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zufhrv\",\n                                \"scale\": [\n                                    1.0000169277191162,\n                                    1.0000722408294678,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zxlndv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zxlndv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zxlndv\",\n                                \"scale\": [\n                                    0.9999450445175171,\n                                    1.0000429153442383,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zxyurx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zxyurx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zxyurx\",\n                                \"scale\": [\n                                    0.9999738335609436,\n                                    1.0000016689300537,\n                                    1.0000286102294922\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wardrobe_ktworp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_ktworp_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"ktworp\",\n                                \"scale\": [\n                                    1.000016450881958,\n                                    1.0000059604644775,\n                                    1.0000040531158447\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"64b813497cbd3a0536cb633a7dade140\"\n                            }\n                        },\n                        \"wardrobe_lrokhl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_lrokhl_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"lrokhl\",\n                                \"scale\": [\n                                    1.0000264644622803,\n                                    0.9999752044677734,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2adb6397f0f6a80e7adc1892046e21b3\"\n                            }\n                        },\n                        \"washer_ynwamu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ynwamu_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ynwamu\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999510645866394,\n                                    1.0000536441802979\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"506bf58be3399f40ee913a2856598d27\"\n                            }\n                        },\n                        \"plate_207\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"plate_207\",\n                                \"category\": \"plate\",\n                                \"model\": \"zpddxu\",\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\": \"0b105c3bf7d2c04ef6a277ebe5954015\"\n                            }\n                        },\n                        \"frying_pan_208\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"frying_pan_208\",\n                                \"category\": \"frying_pan\",\n                                \"model\": \"cprjvq\",\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\": \"88226e91b38af9451053a0e2e76c5c73\"\n                            }\n                        },\n                        \"carving_knife_209\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"carving_knife_209\",\n                                \"category\": \"carving_knife\",\n                                \"model\": \"awvoox\",\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\": \"bf0405d9859e4de9545a3b3d94ba14ea\"\n                            }\n                        },\n                        \"cutting_board_210\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"cutting_board_210\",\n                                \"category\": \"cutting_board\",\n                                \"model\": \"tcdrzs\",\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\": \"5277cc1caf0c169cf40a045a0a2d80e7\"\n                            }\n                        },\n                        \"chili_211\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"chili_211\",\n                                \"category\": \"chili\",\n                                \"model\": \"xhbpqh\",\n                                \"scale\": [\n                                    6.0,\n                                    6.0,\n                                    6.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"6cddfaddf025aa9c9813d9eed6b2542a\"\n                            }\n                        },\n                        \"head_cabbage_212\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"head_cabbage_212\",\n                                \"category\": \"head_cabbage\",\n                                \"model\": \"tqohvs\",\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\": \"54528c9c6bfc96df6bfb01b1c9f7408e\"\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                                                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\"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        22.38646697998047,\n                                        21.58736801147461,\n                                        0.5167543292045593\n                                    ],\n                                    \"ori\": [\n                                        -0.023419544100761414,\n                                        0.0003616200992837548,\n                                        0.9997256994247437,\n                                        1.0095178367919289e-05\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n               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             0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.2767097129057359e-36\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"sliding_door_tprpvb_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        20.203441619873047,\n                                        14.243247985839844,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                            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2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        -1.197885562257145e-21,\n                                        2.5236762210708273e-14,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    0.0\n                  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\"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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                   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\"args\": {\n                    \"name\": \"bush_xsqlhv_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"xsqlhv\",\n                    \"scale\": [\n                        1.0000061988830566,\n                        0.9999860525131226,\n                        1.0000078678131104\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_xsqlhv_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_xsqlhv_1\",\n                    \"category\": \"bush\",\n                   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                  ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.9999868273735046,\n                        0.999997079372406,\n                        0.999981164932251\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"car_xxsgpq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"car_xxsgpq_0\",\n                    \"category\": \"car\",\n                    \"model\": \"xxsgpq\",\n                    \"scale\": [\n                        1.0000019073486328,\n                        0.9999808073043823,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"0cd993eadd563bb4d7566d6aa2f67e05\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"charcoal_grill_crdaeu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"charcoal_grill_crdaeu_0\",\n                    \"category\": \"charcoal_grill\",\n                    \"model\": \"crdaeu\",\n                    \"scale\": [\n                        1.00003182888031,\n                        0.9999886751174927,\n                        1.0082638263702393\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"12597746435ceb178b5cc46ca59f16a3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"clothesline_pole_smrqrw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"clothesline_pole_smrqrw_1\",\n                    \"category\": \"clothesline_pole\",\n                    \"model\": \"smrqrw\",\n                    \"scale\": [\n                        1.0002660751342773,\n                        1.000095248222351,\n                        0.9999536871910095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"1571f303e2237b553162831ca32433f0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"dishwasher_ynrhuk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"dishwasher_ynrhuk_0\",\n                    \"category\": \"dishwasher\",\n                    \"model\": \"ynrhuk\",\n                    \"scale\": [\n                        1.0596805810928345,\n                        1.105420708656311,\n                        1.0615441799163818\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fridge_dszchb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fridge_dszchb_0\",\n                    \"category\": \"fridge\",\n                    \"model\": \"dszchb\",\n                    \"scale\": [\n                        1.0291646718978882,\n                  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\"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_1\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_2\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n   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0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_2\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n   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\"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_5\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_0\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_1\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_2\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_3\",\n                    \"category\": 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1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"water_glass_bbpraa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"water_glass_bbpraa_0\",\n                    \"category\": \"water_glass\",\n                    \"model\": \"bbpraa\",\n                    \"scale\": [\n                        1.0005030632019043,\n                        1.000504970550537,\n                        0.9999057650566101\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"6604ae0c195e721402606bbba18ae6af\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_udatjt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_udatjt_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"udatjt\",\n                    \"scale\": [\n                        0.999976396560669,\n                        1.000006914138794,\n                        0.9999703764915466\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2353f1499a352fa71769329e85f415c7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseboard_djaeet_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseboard_djaeet_0\",\n                    \"category\": \"baseboard\",\n                    \"model\": \"djaeet\",\n                    \"scale\": [\n                        0.9999423027038574,\n                        0.9999826550483704,\n                        1.0001800060272217\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"3ac6f3ae09e83773584aafeb8f177279\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseboard_dsajeh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseboard_dsajeh_0\",\n                    \"category\": \"baseboard\",\n                    \"model\": \"dsajeh\",\n                    \"scale\": [\n                        1.0000505447387695,\n                        0.9999988675117493,\n                        1.0001800060272217\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f9e08829e242129ed034205c472c25fe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseboard_peorza_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseboard_peorza_0\",\n                    \"category\": \"baseboard\",\n                    \"model\": \"peorza\",\n                    \"scale\": [\n                        0.9999390840530396,\n                        1.0000016689300537,\n                        1.0001667737960815\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2b7209f9355acafab9825576e707dd03\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_fancyy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_fancyy_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"fancyy\",\n                    \"scale\": [\n                        1.0000628232955933,\n                        1.0000044107437134,\n                        0.9999768137931824\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7955f5ad8238e00943e32d39e54f105b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_no_top_gjeoer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_no_top_gjeoer_0\",\n                    \"category\": \"bottom_cabinet_no_top\",\n                    \"model\": \"gjeoer\",\n                    \"scale\": [\n                        0.9999522566795349,\n                        1.0000033378601074,\n                        0.9999667406082153\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b0d103ca51cfc25f51193b231d559940\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_no_top_rkgjer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_no_top_rkgjer_0\",\n                    \"category\": \"bottom_cabinet_no_top\",\n                    \"model\": \"rkgjer\",\n                    \"scale\": [\n                        1.0000126361846924,\n                        0.9999865293502808,\n                        0.9999390840530396\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0030a755bb045343cf3a95d6609fda35\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"boulder_vxbkjq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"boulder_vxbkjq_0\",\n                    \"category\": 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1.0000821352005005,\n                        1.0000149011611938,\n                        0.9986956119537354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f6fd2b5ec030ad97952bf7a27d11812b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_apkslx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_apkslx_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"apkslx\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999992251396179,\n                        1.0000026226043701\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"b6ae83f57c787c5dbd2aa073ace1b1ae\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_awbqsa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_awbqsa_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"awbqsa\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        0.9999920129776001,\n                        1.0000675916671753\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_frqekm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_frqekm_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"frqekm\",\n                    \"scale\": [\n                        1.0000094175338745,\n                        1.0000001192092896,\n                        0.999937891960144\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\"\n                    ],\n                  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],\n                    \"expected_file_hash\": \"2c3aa8efc5f860d9df7d52203e6611da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_fnvpyu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_fnvpyu_0\",\n                    \"category\": \"door\",\n                    \"model\": \"fnvpyu\",\n                    \"scale\": [\n                        1.0002930164337158,\n                        0.999984085559845,\n                        1.000014066696167\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"755e7ef2f164ceb2f60a0b07c9253710\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_iuuykr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_iuuykr_0\",\n                    \"category\": \"door\",\n                    \"model\": \"iuuykr\",\n                    \"scale\": [\n                        1.000057339668274,\n                        1.0000216960906982,\n                        1.0000015497207642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d4f63912343f9527f78fdb0bdcf0962c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n      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1.0001226663589478,\n                        1.000045895576477,\n                        0.9999911189079285\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\",\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"45ed1765b26e97c4213bb7dad0a765ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_10\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_11\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                  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\"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_14\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_14\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_shuuqu_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"shuuqu\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        1.0000165700912476,\n                        0.9999285936355591\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"a227993bc7daa05028c1c3fbf290d78d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_sirgua_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_sirgua_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"sirgua\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        1.0000005960464478,\n                        1.00011146068573\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"ef0ecacce2c727dbf22114f77cb024c9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_uftgek_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_uftgek_0\",\n                    \"category\": 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0.9999973177909851,\n                        1.0000057220458984,\n                        0.9999462366104126\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_vcsslq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_vcsslq_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"vcsslq\",\n                    \"scale\": [\n                        1.0000104904174805,\n                        1.0000070333480835,\n                        0.9999312162399292\n      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\"expected_file_hash\": \"c69c2fe32dc9e40902d43ba0ae7d49cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_yfyxxu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yfyxxu_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yfyxxu\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        1.0000355243682861,\n                        0.9999294877052307\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"2e85d67047cf2bbef8d9e26d6c1c1658\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_yibjol_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yibjol_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yibjol\",\n                    \"scale\": [\n                        1.0000231266021729,\n                        0.9999783039093018,\n                        0.9999303221702576\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_1\"\n                    ],\n                    \"expected_file_hash\": \"08f63caa06c762c29314321e6d530379\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_yrqspn_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"gas_fireplace_gwqitr_0\",\n                    \"category\": \"gas_fireplace\",\n                    \"model\": \"gwqitr\",\n                    \"scale\": [\n                        0.9999507069587708,\n                        0.9999906420707703,\n                        1.0000510215759277\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"3d5c88bd97031c29a539844d5a45f703\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_wwoqjw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_wwoqjw_0\",\n                    \"category\": 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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7e34a94e1d82b76b0ae1e4a36c66c936\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"oven_ffitak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"oven_ffitak_0\",\n                    \"category\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        0.9999300241470337,\n                        1.0000790357589722,\n                        1.000065803527832\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_fqlxxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_fqlxxd_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"fqlxxd\",\n                    \"scale\": [\n                        1.0003372430801392,\n                        1.000027060508728,\n                        0.9999690651893616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"cfbbad3016272295997c405db2b00eb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_jreujf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_jreujf_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"jreujf\",\n                    \"scale\": [\n                        0.9992155432701111,\n                        1.000004529953003,\n                        0.999982476234436\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"01e49f935ee5fd482cc86b75230303e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_0\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_1\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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            \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_4\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_5\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_6\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_7\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_8\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_roemfr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_roemfr_0\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"roemfr\",\n                    \"scale\": [\n                        1.0001897811889648,\n                        0.9999998211860657,\n                        1.000010371208191\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_roemfr_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"rail_fence_roemfr_1\",\n                    \"category\": \"rail_fence\",\n                    \"model\": \"roemfr\",\n                    \"scale\": [\n                        1.0001897811889648,\n                        0.9999998211860657,\n                        1.000010371208191\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"rail_fence_wvfgad_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n        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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7ffd7aab050722aedfd7779af372a434\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_light_hqxyvs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_light_hqxyvs_0\",\n                    \"category\": \"room_light\",\n                    \"model\": \"hqxyvs\",\n                    \"scale\": [\n                        1.0000630617141724,\n                        0.9999338984489441,\n                        1.0000019073486328\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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   \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_10\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_11\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_2\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                  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\"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_4\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_5\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_6\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_7\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_8\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_9\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_pfusrd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_pfusrd_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_vuswbv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_vuswbv_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"vuswbv\",\n                    \"scale\": [\n                        1.0000189542770386,\n                        1.000184416770935,\n                        0.9999966621398926\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"40f822e4cc6c86f07b2b79ff42032cce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_lrvyvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_lrvyvc_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"lrvyvc\",\n                    \"scale\": [\n                        0.9999122023582458,\n                        1.000001072883606,\n                        1.0000181198120117\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bd352e7c99702cfb43a99090af6ff865\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0000165700912476,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_1\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0632356405258179,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_10\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.001861810684204,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_11\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.088773250579834,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_12\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.2041987180709839,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_2\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.828336775302887,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_3\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9631685018539429,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"closet_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_4\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.748390257358551,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"closet_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_5\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0907971858978271,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_6\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.099666953086853,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_7\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.115620493888855,\n                        1.0000112056732178\n                    ],\n                 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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\",\n                        \"closet_4\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_9\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9854320883750916,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": 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\"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_1\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_2\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n   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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_1\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_2\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n           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\"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_4\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            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1.0000017881393433,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"72531b959dc77bfb73f467da9a4171a7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_anepvh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_anepvh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"anepvh\",\n                    \"scale\": [\n                        0.9999486804008484,\n                        1.000133752822876,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n      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 }\n            },\n            \"walls_babjhv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_babjhv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"babjhv\",\n                    \"scale\": [\n                        0.9998753070831299,\n                        0.9999241232872009,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_baibaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_baibaz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"baibaz\",\n                    \"scale\": [\n                        1.0000454187393188,\n                        1.0000240802764893,\n                        0.9999918937683105\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9b1227cafcd491fd9ee8ab8e97756b9f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_bpbucg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bpbucg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bpbucg\",\n                    \"scale\": [\n                        0.9998854398727417,\n                        0.9999871253967285,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dd90d7e91fb21465c4f556b05d1603e0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_bqocyc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bqocyc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bqocyc\",\n                    \"scale\": [\n                        0.9998852014541626,\n                        1.0000405311584473,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"62b1b6c63c549257897578d856342d87\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_btcoak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_btcoak_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"btcoak\",\n                    \"scale\": [\n                        1.0000944137573242,\n                        0.9999912977218628,\n                        0.9999747276306152\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_chtiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"chtiea\",\n                    \"scale\": [\n                        1.0002912282943726,\n                        0.9999908804893494,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cjxcfc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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1.0000011920928955,\n                        1.000003457069397,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cnqnew_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cnqnew_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cnqnew\",\n                    \"scale\": [\n                        1.0000557899475098,\n                        1.0002148151397705,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n      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        \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duatwe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"duatwe\",\n                    \"scale\": [\n                        1.0000064373016357,\n                        0.9996722340583801,\n                        1.0001468658447266\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_duepvi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duepvi_0\",\n                    \"category\": \"walls\",\n            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 }\n            },\n            \"walls_gkmbnp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmbnp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmbnp\",\n                    \"scale\": [\n                        0.9999883770942688,\n                        1.0000717639923096,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmwvy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmwvy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmwvy\",\n                    \"scale\": [\n                        1.0000468492507935,\n                        0.9999639987945557,\n                        0.9999344944953918\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkwemu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkwemu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkwemu\",\n             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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gupuvk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gupuvk\",\n                    \"scale\": [\n                        0.9999587535858154,\n                        1.000302791595459,\n                        1.0000627040863037\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_guxxwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_guxxwh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"guxxwh\",\n                    \"scale\": [\n                        0.9998859167098999,\n                        1.0000396966934204,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hajmoj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hajmoj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hajmoj\",\n                    \"scale\": [\n                        1.000004768371582,\n                        0.9999983310699463,\n                        0.9999830722808838\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hbacbx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hbacbx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hbacbx\",\n                    \"scale\": [\n                        1.0000141859054565,\n                        1.000041127204895,\n                      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           \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hfxeuh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hfxeuh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hfxeuh\",\n                    \"scale\": [\n                        0.9997124075889587,\n                        0.9999848008155823,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hgaazx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hgaazx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hgaazx\",\n                    \"scale\": [\n                        0.9999676942825317,\n                        0.9998993277549744,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hhbfdf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hhbfdf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hhbfdf\",\n                    \"scale\": [\n                        1.000022292137146,\n                        0.9999868273735046,\n                        0.9999457001686096\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9960886844249e083693960659d27b9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hoyudj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hoyudj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hoyudj\",\n                    \"scale\": [\n                        1.000164270401001,\n                        0.9999976754188538,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hqkpgu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hqkpgu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hqkpgu\",\n                    \"scale\": [\n                        1.000036597251892,\n                        0.9997795820236206,\n                        1.000002384185791\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_htpoqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_htpoqj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"htpoqj\",\n                    \"scale\": [\n                        1.0000275373458862,\n                        1.000287413597107,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hwzmyf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hwzmyf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hwzmyf\",\n                    \"scale\": [\n                        1.0001691579818726,\n                        1.0000174045562744,\n                        1.0000296831130981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hzepkq_0\": {\n                \"class_module\": 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          \"category\": \"walls\",\n                    \"model\": \"hzhlyw\",\n                    \"scale\": [\n                        1.0000052452087402,\n                        0.9999136924743652,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ipoatq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ipoatq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ipoatq\",\n                    \"scale\": [\n                        0.9999895095825195,\n                       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                \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ivezzr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ivezzr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ivezzr\",\n                    \"scale\": [\n                        0.999926745891571,\n                        1.000006914138794,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_izcwsg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_izcwsg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"izcwsg\",\n                    \"scale\": [\n                        0.9998259544372559,\n                        1.0001044273376465,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jbwydo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_knhryu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"knhryu\",\n                    \"scale\": [\n                        0.9999251961708069,\n                        0.9999673366546631,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"673b6a8f97f4fe9c3f785581afc4d5c6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ktvxpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ltqrqp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ltqrqp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ltqrqp\",\n                    \"scale\": [\n                        1.0001306533813477,\n                        0.9999893307685852,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lveewk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lveewk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lveewk\",\n                    \"scale\": [\n                        0.9999539852142334,\n                        0.9998413920402527,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lxqjnd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lxqjnd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lxqjnd\",\n                    \"scale\": [\n                        1.0001026391983032,\n                        0.9999812841415405,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lzkdkf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lzkdkf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lzkdkf\",\n                    \"scale\": [\n                        1.0000964403152466,\n                        0.9999716877937317,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgwnwy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgwnwy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgwnwy\",\n                    \"scale\": [\n                        0.9999656677246094,\n                        1.0001095533370972,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mianco_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mianco_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mianco\",\n                    \"scale\": [\n                        1.0000030994415283,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mxhvpj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mxhvpj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mxhvpj\",\n                    \"scale\": [\n                        0.9999787211418152,\n                        1.0001676082611084,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nfmhed_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nfmhed_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nfmhed\",\n                    \"scale\": [\n                        0.9999906420707703,\n                        1.0001713037490845,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nhvigl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nhvigl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nhvigl\",\n                    \"scale\": [\n                        1.0002909898757935,\n                        0.9999896883964539,\n                        1.0000035762786865\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_noclci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_noclci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"noclci\",\n                    \"scale\": [\n                        1.0002578496932983,\n                        0.9999694228172302,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nuaoac_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nuaoac_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nuaoac\",\n                    \"scale\": [\n                        1.000181794166565,\n                        0.9999966621398926,\n                        1.0000261068344116\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oehfxy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oehfxy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oehfxy\",\n                    \"scale\": [\n                        1.000117301940918,\n                        1.0000636577606201,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olxjsy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olxjsy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olxjsy\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        0.9997128248214722,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olywna_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olywna_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olywna\",\n                    \"scale\": [\n                        0.9999077916145325,\n                        1.0000104904174805,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ondmvj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ondmvj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ondmvj\",\n                    \"scale\": [\n                        1.0001270771026611,\n                        1.0000394582748413,\n                        0.9999598860740662\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_onwdhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_onwdhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"onwdhr\",\n                    \"scale\": [\n                        0.999975860118866,\n                        0.9998258948326111,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ooixcz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ooixcz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ooixcz\",\n                    \"scale\": [\n                        1.0000063180923462,\n                        1.0000216960906982,\n                        0.9999969005584717\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oyhdlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oyhdlq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oyhdlq\",\n                    \"scale\": [\n                        0.9998031258583069,\n                        1.0000176429748535,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paognv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paognv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paognv\",\n                    \"scale\": [\n                        1.000030517578125,\n                        1.0002267360687256,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pdahqy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pdahqy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pdahqy\",\n                    \"scale\": [\n                        0.9997052550315857,\n                        1.0000066757202148,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pofjys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pofjys_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pofjys\",\n                    \"scale\": [\n                        1.0000216960906982,\n                        1.000051498413086,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pozods_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pozods_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pozods\",\n                    \"scale\": [\n                        1.0000250339508057,\n                        1.0000290870666504,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pwjyds_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pwjyds_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pwjyds\",\n                    \"scale\": [\n                        1.000086784362793,\n                        0.9999912977218628,\n                        0.9999852776527405\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qlnqyd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qlnqyd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qlnqyd\",\n                    \"scale\": [\n                        1.0002201795578003,\n                        1.0000241994857788,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qpkfgi_0\": {\n                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1.000019907951355,\n                        1.0001133680343628,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qzwuwo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qzwuwo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qzwuwo\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999549388885498,\n                        1.000033974647522\n                    ],\n                    \"fixed_base\": true,\n       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\"bddl_object_scope\": null\n                }\n            },\n            \"walls_rfpiin_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rfpiin_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rfpiin\",\n                    \"scale\": [\n                        0.9998872876167297,\n                        0.9998480081558228,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rogorx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rogorx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rogorx\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9997554421424866,\n                        1.0000357627868652\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_sgqckc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_sgqckc_0\",\n                    \"category\": \"walls\",\n             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0.9999475479125977\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_snssjy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_snssjy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"snssjy\",\n                    \"scale\": [\n                        0.9999773502349854,\n                        1.0001850128173828,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n          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\"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tvjrao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tvjrao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tvjrao\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9997362494468689,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tyjlww_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tyjlww_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tyjlww\",\n                    \"scale\": [\n                        0.999956488609314,\n                        1.0001850128173828,\n                        0.9999752640724182\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubgakb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubgakb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubgakb\",\n                    \"scale\": [\n                        0.9999848008155823,\n                        1.0,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubscrh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubscrh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubscrh\",\n                    \"scale\": [\n                        1.0000135898590088,\n                        0.9998775124549866,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udgvuj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udgvuj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udgvuj\",\n                    \"scale\": [\n                        0.9998785257339478,\n                        0.9998557567596436,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udqkcs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udqkcs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udqkcs\",\n                    \"scale\": [\n                        0.9999690055847168,\n                        0.9999529719352722,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uplnmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uplnmr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uplnmr\",\n                    \"scale\": [\n                        1.0001013278961182,\n                        0.9999964237213135,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_urngpl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_urngpl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"urngpl\",\n                    \"scale\": [\n                        0.9999960660934448,\n                        1.0001499652862549,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uubhfj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uubhfj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uubhfj\",\n                    \"scale\": [\n                        0.9999725222587585,\n                        0.9998858571052551,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uuxqzk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uuxqzk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uuxqzk\",\n                    \"scale\": [\n                        0.9997155070304871,\n                        0.999993085861206,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uvgxro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uvgxro_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uvgxro\",\n                    \"scale\": [\n                        1.0002046823501587,\n                        1.000001311302185,\n                        0.9999594688415527\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4b71fb277cb8a29dd1e2d93b0b0468a2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxcfbp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxcfbp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxcfbp\",\n                    \"scale\": [\n                        1.0000423192977905,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"efd75340071552b755b0435ac75ba5a3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxgkxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxgkxd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxgkxd\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        0.9999704957008362,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uzxqqb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uzxqqb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uzxqqb\",\n                    \"scale\": [\n                        0.999995768070221,\n                        1.0001778602600098,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vcftmx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vcftmx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vcftmx\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0001753568649292,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4357a4a2486598714769f21d93f3eb4b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vcgulk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vcgulk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vcgulk\",\n                    \"scale\": [\n                        1.000012755393982,\n                        1.0000059604644775,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vdywfg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vdywfg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vdywfg\",\n                    \"scale\": [\n                        0.999976634979248,\n                        1.0002204179763794,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vfibix_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vfibix_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vfibix\",\n                    \"scale\": [\n                        1.0000523328781128,\n                        1.0000444650650024,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vmsoas_0\": {\n                \"class_module\": 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          \"category\": \"walls\",\n                    \"model\": \"vpuhwn\",\n                    \"scale\": [\n                        0.99983149766922,\n                        1.0000014305114746,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wbjwyy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wbjwyy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wbjwyy\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.9999871253967285,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_1\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_2\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_3\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_4\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_5\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_6\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wrodjv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wrodjv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wrodjv\",\n                    \"scale\": [\n                        1.0002094507217407,\n                        1.0000132322311401,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wtpbpe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wtpbpe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wtpbpe\",\n                    \"scale\": [\n                        0.99996417760849,\n                        1.0002048015594482,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wveiea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wveiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wveiea\",\n                    \"scale\": [\n                        1.0000367164611816,\n                        1.0000665187835693,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xbotyv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xbotyv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xbotyv\",\n                    \"scale\": [\n                        0.999990701675415,\n                        0.9999972581863403,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xjxddw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xjxddw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xjxddw\",\n                    \"scale\": [\n                        1.000271201133728,\n                        1.0000120401382446,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xnutie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xnutie_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xnutie\",\n                    \"scale\": [\n                        0.9999076724052429,\n                        0.9999979138374329,\n                        0.9999707937240601\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ybcyqk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ybcyqk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ybcyqk\",\n                    \"scale\": [\n                        1.0002689361572266,\n                        1.0000149011611938,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zfhsih_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zfhsih_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zfhsih\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999537467956543,\n                        1.0000230073928833\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zpjckn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zpjckn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zpjckn\",\n                    \"scale\": [\n                        0.9999418258666992,\n                        1.00014328956604,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zqexop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zqexop_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zqexop\",\n                    \"scale\": [\n                        0.9999964833259583,\n                        0.999962329864502,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zufhrv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zufhrv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zufhrv\",\n                    \"scale\": [\n                        1.0000169277191162,\n                        1.0000722408294678,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxlndv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxlndv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxlndv\",\n                    \"scale\": [\n                        0.9999450445175171,\n                        1.0000429153442383,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxyurx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxyurx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxyurx\",\n                    \"scale\": [\n                        0.9999738335609436,\n                        1.0000016689300537,\n                        1.0000286102294922\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"plate_207\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"plate_207\",\n                    \"category\": \"plate\",\n                    \"model\": \"zpddxu\",\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\": \"0b105c3bf7d2c04ef6a277ebe5954015\"\n                }\n            },\n            \"frying_pan_208\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"frying_pan_208\",\n                    \"category\": \"frying_pan\",\n                    \"model\": \"cprjvq\",\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\": \"88226e91b38af9451053a0e2e76c5c73\"\n                }\n            },\n            \"carving_knife_209\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"carving_knife_209\",\n                    \"category\": \"carving_knife\",\n                    \"model\": \"awvoox\",\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\": \"bf0405d9859e4de9545a3b3d94ba14ea\"\n                }\n            },\n            \"cutting_board_210\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"cutting_board_210\",\n                    \"category\": \"cutting_board\",\n                    \"model\": \"tcdrzs\",\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\": \"5277cc1caf0c169cf40a045a0a2d80e7\"\n                }\n            },\n            \"chili_211\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"chili_211\",\n                    \"category\": \"chili\",\n                    \"model\": \"xhbpqh\",\n                    \"scale\": [\n                        6.0,\n                        6.0,\n                        6.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"6cddfaddf025aa9c9813d9eed6b2542a\"\n                }\n            },\n            \"head_cabbage_212\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"head_cabbage_212\",\n                    \"category\": \"head_cabbage\",\n                    \"model\": \"tqohvs\",\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\": \"54528c9c6bfc96df6bfb01b1c9f7408e\"\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": 13431,
-    "num_samples": 13431,
-    "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",
-        "head_cabbage.n.02_1_real",
-        "head_cabbage.n.02_1_pos",
-        "head_cabbage.n.02_1_ori_cos",
-        "head_cabbage.n.02_1_ori_sin",
-        "head_cabbage.n.02_1_in_gripper_left",
-        "head_cabbage.n.02_1_in_gripper_right",
-        "electric_refrigerator.n.01_1_real",
-        "electric_refrigerator.n.01_1_pos",
-        "electric_refrigerator.n.01_1_ori_cos",
-        "electric_refrigerator.n.01_1_ori_sin",
-        "electric_refrigerator.n.01_1_in_gripper_left",
-        "electric_refrigerator.n.01_1_in_gripper_right",
-        "chili.n.02_1_real",
-        "chili.n.02_1_pos",
-        "chili.n.02_1_ori_cos",
-        "chili.n.02_1_ori_sin",
-        "chili.n.02_1_in_gripper_left",
-        "chili.n.02_1_in_gripper_right",
-        "chopping_board.n.01_1_real",
-        "chopping_board.n.01_1_pos",
-        "chopping_board.n.01_1_ori_cos",
-        "chopping_board.n.01_1_ori_sin",
-        "chopping_board.n.01_1_in_gripper_left",
-        "chopping_board.n.01_1_in_gripper_right",
-        "carving_knife.n.01_1_real",
-        "carving_knife.n.01_1_pos",
-        "carving_knife.n.01_1_ori_cos",
-        "carving_knife.n.01_1_ori_sin",
-        "carving_knife.n.01_1_in_gripper_left",
-        "carving_knife.n.01_1_in_gripper_right",
-        "frying_pan.n.01_1_real",
-        "frying_pan.n.01_1_pos",
-        "frying_pan.n.01_1_ori_cos",
-        "frying_pan.n.01_1_ori_sin",
-        "frying_pan.n.01_1_in_gripper_left",
-        "frying_pan.n.01_1_in_gripper_right",
-        "plate.n.04_1_real",
-        "plate.n.04_1_pos",
-        "plate.n.04_1_ori_cos",
-        "plate.n.04_1_ori_sin",
-        "plate.n.04_1_in_gripper_left",
-        "plate.n.04_1_in_gripper_right",
-        "stove.n.01_1_real",
-        "stove.n.01_1_pos",
-        "stove.n.01_1_ori_cos",
-        "stove.n.01_1_ori_sin",
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\ No newline at end of file
diff --git a/meta/episodes/task-0041/episode_00412140.json b/meta/episodes/task-0041/episode_00412140.json
deleted file mode 100644
index 7d6ec96139286240e54ed1b1c2de6510a69d40bd..0000000000000000000000000000000000000000
--- a/meta/episodes/task-0041/episode_00412140.json
+++ /dev/null
@@ -1,649 +0,0 @@
-{
-    "config": "{\"env\": {\"action_frequency\": 30.0, \"rendering_frequency\": 30.0, \"physics_frequency\": 120.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_single_floor_task_cook_cabbage_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"carving_knife.n.01_1\": \"carving_knife_209\", \"chili.n.02_1\": \"chili_211\", \"chopping_board.n.01_1\": \"cutting_board_210\", \"countertop.n.01_1\": \"countertop_kelker_0\", \"electric_refrigerator.n.01_1\": \"fridge_dszchb_0\", \"floor.n.01_1\": \"floors_kxcpgy_0\", \"frying_pan.n.01_1\": \"frying_pan_208\", \"head_cabbage.n.02_1\": \"head_cabbage_212\", \"plate.n.04_1\": \"plate_207\", \"stove.n.01_1\": \"burner_mjvqii_0\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_single_floor\", \"scene_instance\": \"house_single_floor_task_cook_cabbage_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_rhdbzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_0\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"entryway_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"}}, \"bottom_cabinet_rhdbzv_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_1\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"entryway_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\"}}, \"bottom_cabinet_xqmipa_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_xqmipa_0\", \"category\": \"bottom_cabinet\", \"model\": \"xqmipa\", \"scale\": [0.5479558110237122, 0.5591999888420105, 0.9078033566474915], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"4b3578bf3c15f9900f53ba62b6d7c9dc\"}}, \"bottom_cabinet_no_top_gjrero_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_0\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_1\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_2\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_3\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.9997877478599548, 1.3944655656814575, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bottom_cabinet_no_top_gjrero_4\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_no_top_gjrero_4\", \"category\": \"bottom_cabinet_no_top\", \"model\": \"gjrero\", \"scale\": [0.6609978675842285, 1.3523503541946411, 1.2035202980041504], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"utility_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"}}, \"bush_ebuvur_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_ebuvur_0\", \"category\": \"bush\", \"model\": \"ebuvur\", \"scale\": [0.9999991059303284, 1.000010371208191, 0.9999893307685852], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c943c0497915e241b3c7005bb91874cc\"}}, \"bush_ebuvur_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_ebuvur_1\", \"category\": \"bush\", \"model\": \"ebuvur\", \"scale\": [0.9999991059303284, 1.000010371208191, 0.9999893307685852], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c943c0497915e241b3c7005bb91874cc\"}}, \"bush_frqici_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_frqici_0\", \"category\": \"bush\", \"model\": \"frqici\", \"scale\": [0.5412687063217163, 0.5412584543228149, 0.5412585735321045], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"0827d6854be7240a09c869caeddf5027\"}}, \"bush_knspbi_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_0\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_1\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_2\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_knspbi_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_knspbi_3\", \"category\": \"bush\", \"model\": \"knspbi\", \"scale\": [1.0000227689743042, 1.0000056028366089, 1.0000313520431519], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\"}}, \"bush_kyghri_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_0\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_1\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_2\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_3\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [1.0000250339508057, 1.000002384185791, 1.0000070333480835], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_lfyqkj_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_lfyqkj_0\", \"category\": \"bush\", \"model\": \"lfyqkj\", \"scale\": [1.0000290870666504, 0.9999884963035583, 1.0000216960906982], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"}}, \"bush_lfyqkj_1\": {\"class_module\": 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0.00527028925716877, 0.9983012080192566, 0.057878393679857254], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": -2.85589337348938}, \"MaxTemperature\": {\"max_temperature\": 23.0}}}, \"head_cabbage_212\": {\"is_asleep\": true, \"root_link\": {\"pos\": [7.681816101074219, -1.7421454191207886, 0.5397814512252808], \"ori\": [-0.02419968880712986, -0.057883087545633316, 0.9920564889907837, -0.1090318039059639], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": -2.85589337348938}, \"MaxTemperature\": {\"max_temperature\": 23.0}}}, \"robot_r1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.684234619140625, -0.9068603515625, 0.0050048828125], \"ori\": [0.000755067216232419, 0.0005265736836008728, -0.5986642241477966, 0.8009995818138123], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [0.00014649966033175588, 1.4365933566296007e-05, 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\"current_idx\": 0, \"fully_filled\": true}}, \"arm_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-5.900859468965791e-05, 0.0], [-2.7684771339409053e-05, 1.0065930837299675e-05], [1.371087728330167e-05, 1.4884377378621139e-05], [-2.324580964341294e-05, 3.4868717193603516e-05], [8.940695806813892e-06, 2.6822087875189027e-06]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_single_floor\", \"load_room_types\": null, \"load_room_instances\": [\"corridor_0\", \"dining_room_0\", \"entryway_0\", \"garden_0\", \"kitchen_0\", \"living_room_0\", \"living_room_1\"], \"include_robots\": false}, \"robots\": [{\"type\": \"R1Pro\", \"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], 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0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"cook_cabbage\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
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\"frying_pan_208\",\n            \"plate.n.04_1\": \"plate_207\",\n            \"stove.n.01_1\": \"burner_mjvqii_0\",\n            \"countertop.n.01_1\": \"countertop_kelker_0\",\n            \"floor.n.01_1\": \"floors_kxcpgy_0\"\n        },\n        \"task\": {\n            \"inst_to_name\": {\n                \"agent.n.01_1\": \"robot_r1\",\n                \"carving_knife.n.01_1\": \"carving_knife_209\",\n                \"chili.n.02_1\": \"chili_211\",\n                \"chopping_board.n.01_1\": \"cutting_board_210\",\n                \"countertop.n.01_1\": \"countertop_kelker_0\",\n                \"electric_refrigerator.n.01_1\": \"fridge_dszchb_0\",\n                \"floor.n.01_1\": \"floors_kxcpgy_0\",\n                \"frying_pan.n.01_1\": \"frying_pan_208\",\n                \"head_cabbage.n.02_1\": \"head_cabbage_212\",\n                \"plate.n.04_1\": \"plate_207\",\n                \"stove.n.01_1\": \"burner_mjvqii_0\"\n            }\n        }\n    },\n    \"state\": 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0.19256259500980377\n                        ],\n                        \"ori\": [\n                            0.0,\n                            -2.384635422458814e-07,\n                            1.0000001192092896,\n                            5.523324944078922e-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                        0.0,\n                        1.9119546224022343e-11\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": 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                     \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_ebuvur_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.134653091430664,\n                            25.318904876708984,\n                            0.8203938603401184\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.79324197769165,\n                            25.338485717773438,\n                            1.8793333768844604\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                 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0.8660253882408142,\n                            -0.5\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_knspbi_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            15.312063217163086,\n                            27.492013931274414,\n                            0.6635491847991943\n           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                        \"floor.n.01_1\": \"floors_kxcpgy_0\",\n                            \"frying_pan.n.01_1\": \"frying_pan_208\",\n                            \"head_cabbage.n.02_1\": \"head_cabbage_212\",\n                            \"plate.n.04_1\": \"plate_207\",\n                            \"stove.n.01_1\": \"burner_mjvqii_0\"\n                        }\n                    }\n                },\n                \"init_info\": {\n                    \"class_module\": \"omnigibson.scenes.interactive_traversable_scene\",\n                    \"class_name\": \"InteractiveTraversableScene\",\n                    \"args\": {\n                        \"scene_model\": \"house_single_floor\",\n                        \"scene_instance\": \"house_single_floor_task_cook_cabbage_0_0_template\",\n                        \"scene_file\": null,\n                        \"trav_map_resolution\": 0.1,\n                        \"default_erosion_radius\": 0.0,\n                        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        \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_2\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                                    0.9997877478599548,\n                                    1.3944655656814575,\n                                    1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_3\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                               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       \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                                    0.6609978675842285,\n                                    1.3523503541946411,\n                                    1.2035202980041504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ccd8f7929dd6f8c99bcd03ef0659ddc\"\n                            }\n                        },\n                        \"bush_ebuvur_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"\n                            }\n                        },\n                        \"bush_lfyqkj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"\n                            }\n                        },\n                        \"bush_lfyqkj_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                         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\"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\"\n                            }\n                        },\n                        \"bush_xsqlhv_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n          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\"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"\n                            }\n                        },\n                        \"bush_yhjhta_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_yhjhta_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"yhjhta\",\n                                \"scale\": [\n                                    0.9999868273735046,\n                                    0.999997079372406,\n                                    0.999981164932251\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\"\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                      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0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0cd993eadd563bb4d7566d6aa2f67e05\"\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                                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                         }\n                        },\n                        \"clothesline_pole_smrqrw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"clothesline_pole_smrqrw_1\",\n                                \"category\": \"clothesline_pole\",\n                                \"model\": \"smrqrw\",\n                                \"scale\": [\n                                    1.0002660751342773,\n                                    1.000095248222351,\n                                    0.9999536871910095\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\": \"1571f303e2237b553162831ca32433f0\"\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                                    1.0596805810928345,\n                                    1.105420708656311,\n                                    1.0615441799163818\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"bf8ebfa4f2eddcbf9df621f5aa74f752\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fridge_dszchb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fridge_dszchb_0\",\n                                \"category\": \"fridge\",\n                                \"model\": \"dszchb\",\n                                \"scale\": [\n                                    1.0291646718978882,\n                                    0.9616702198982239,\n                                    1.021162748336792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"ebd1f512f4d2c5a274030474a0c2c40e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"microwave_abzvij_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"microwave_abzvij_0\",\n                                \"category\": \"microwave\",\n                                \"model\": \"abzvij\",\n                                \"scale\": [\n          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                     \"category\": \"recreational_vehicle\",\n                                \"model\": \"doiucd\",\n                                \"scale\": [\n                                    1.0000016689300537,\n                                    0.9999963641166687,\n                                    1.0000040531158447\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\": \"a8c107ce0e415dd3917c5d6a3abe8a94\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            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                            \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"828c3d9f35254623e71ec83c7a697d70\"\n                            }\n                        },\n                        \"armchair_qhcrgb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_4\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n               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\"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\"\n                            }\n                        },\n                        \"floor_lamp_disyzd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_disyzd_0\",\n        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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_jbjckk_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"jbjckk\",\n                                \"scale\": [\n                                    0.999987781047821,\n                                    0.9999877214431763,\n                                    1.0000114440917969\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"48ff074fb5a6a36b42bd9b010f794de9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                  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\"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\"\n                            }\n                        },\n                        \"ottoman_lsaxch_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_1\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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   \"category\": \"ottoman\",\n                                \"model\": \"wkmbra\",\n                                \"scale\": [\n                                    1.0000680685043335,\n                                    0.9999892115592957,\n                                    0.99988853931427\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c315177b40b3986a408bd3aa80ddfb67\"\n                            }\n                        },\n                        \"pot_plant_bjwskl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\"\n                            }\n                        },\n                        \"pot_plant_lligdl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                              \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\"\n                            }\n                        },\n                        \"pot_plant_lligdl_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_3\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                             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\"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_cozrjc_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_cozrjc_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"cozrjc\",\n                                \"scale\": [\n                                    1.0000355243682861,\n                                    1.000028371810913,\n                                    1.0000559091567993\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"straight_chair_gktknj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"straight_chair_gktknj_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"gktknj\",\n                                \"scale\": [\n                                    0.9999244213104248,\n                                    1.0000261068344116,\n                                    1.000027060508728\n                     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           \"category\": \"ceilings\",\n                                \"model\": \"awbqsa\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    0.9999920129776001,\n                                    1.0000675916671753\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_frqekm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"ceilings_gasyop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gasyop_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gasyop\",\n                                \"scale\": [\n                                    0.9999809861183167,\n                                    0.9999995827674866,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"expected_file_hash\": \"b7dd9235290845971b23ebb7e1a83641\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_ibxzsn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_ibxzsn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"ibxzsn\",\n                                \"scale\": [\n                                    1.0000120401382446,\n                                    1.0000014305114746,\n                                    0.9997040629386902\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                             \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"34f7fb141fa21250508f97b9ddded2a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_jjyrdh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_jjyrdh_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"jjyrdh\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9999960064888,\n                                    1.0003373622894287\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"dc3adab5b9b828fad59d139085ce35ed\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_khkogf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_khkogf_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"khkogf\",\n                                \"scale\": [\n                                    0.9999940395355225,\n                                    0.9999963045120239,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a50ad9b2b6fdf95ebbb258aa13d0855\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_kxjvpr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_kxjvpr_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"kxjvpr\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    1.0000051259994507,\n                                    1.0003376007080078\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_nsysju_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                    \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qdlnli_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qdlnli\",\n                                \"scale\": [\n                                    1.000005841255188,\n                                    1.0000149011611938,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"expected_file_hash\": \"bf8fcf7d53f4085a0d47428d5462571e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qenicw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qenicw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qenicw\",\n                                \"scale\": [\n                                    0.9999836683273315,\n                                    0.9999991059303284,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"459a595d9ea0375935adfd08ff7a384e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_shvqqe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_shvqqe_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"shvqqe\",\n                                \"scale\": [\n                                    0.9999994039535522,\n                                    1.0000087022781372,\n                                    0.9999756217002869\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"9cc00c03181d8a273ba2afb116ef5eba\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tbhzzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tbhzzb_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tbhzzb\",\n                                \"scale\": [\n                                    0.9999912977218628,\n                                    1.0000078678131104,\n                                    0.9995139241218567\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"expected_file_hash\": \"43de6d1771691f13e96124dcaff302d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tcwyvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tcwyvb_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tcwyvb\",\n                                \"scale\": [\n                                    0.999995231628418,\n                                    0.9999962449073792,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"expected_file_hash\": \"b43545ac98755677a949d2306843cfee\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tjwkje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tjwkje_0\",\n                                \"category\": 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 \"args\": {\n                                \"name\": \"ceilings_wbbkuv_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"wbbkuv\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9999978542327881,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"ceab944ad9d1ec4ea556be3f12c1186d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_fjkase_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_fjkase_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"fjkase\",\n                                \"scale\": [\n                                    1.000059962272644,\n                                    1.0000097751617432,\n                                    0.9999768137931824\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e16dc4059d36be394a995a2d37cdd124\"\n                            }\n                        },\n                        \"countertop_ikwqer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_ikwqer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"ikwqer\",\n                                \"scale\": [\n                                    1.000056266784668,\n                                    1.0000085830688477,\n                                    0.9999606609344482\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"526ef657973e1d5f136349741aaf188c\"\n                            }\n                        },\n                        \"countertop_kelker_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_kelker_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"kelker\",\n                                \"scale\": [\n                                    0.9999452829360962,\n                                    1.0000067949295044,\n                                    1.0006266832351685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"8cf2d6171e1727e4f72e2bdb8a99ac6d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_kelzer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_kelzer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"kelzer\",\n                                \"scale\": [\n                                    1.0000444650650024,\n                                    0.9999945759773254,\n                                    1.0007061958312988\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"eb1e223a32a11560323fe400191a5946\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_sjxber_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_sjxber_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"sjxber\",\n                                \"scale\": [\n                                    1.0000237226486206,\n                                    1.000012755393982,\n                                    0.9999550580978394\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40cd413884bbd69ad143a52a75e98362\"\n                            }\n                        },\n                        \"door_crtrpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_crtrpa_0\",\n                                \"category\": \"door\",\n                                \"model\": \"crtrpa\",\n                                \"scale\": [\n                                    1.0000602006912231,\n                                    1.0000410079956055,\n                                    0.9999841451644897\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"95f875bd753451b9fd324c8ab551af5d\"\n                            }\n                        },\n                        \"door_eduavq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_eduavq_0\",\n                                \"category\": \"door\",\n                                \"model\": \"eduavq\",\n                                \"scale\": [\n                                    0.9997847676277161,\n                                    1.0000203847885132,\n                                    1.000014305114746\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2c3aa8efc5f860d9df7d52203e6611da\"\n                            }\n                        },\n                        \"door_fnvpyu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_fnvpyu_0\",\n                                \"category\": \"door\",\n                                \"model\": \"fnvpyu\",\n                                \"scale\": [\n                                    1.0002930164337158,\n                                    0.999984085559845,\n                                    1.000014066696167\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"755e7ef2f164ceb2f60a0b07c9253710\"\n                            }\n                        },\n                        \"door_iuuykr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_iuuykr_0\",\n                                \"category\": \"door\",\n                                \"model\": \"iuuykr\",\n                                \"scale\": [\n                                    1.000057339668274,\n                                    1.0000216960906982,\n                                    1.0000015497207642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4f63912343f9527f78fdb0bdcf0962c\"\n                            }\n                        },\n                        \"door_kwbnhy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_0\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0001516342163086,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_1\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.007671594619751,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_2\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    0.9946825504302979,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_kwbnhy_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_3\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0890235900878906,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\"\n                            }\n                        },\n                        \"door_tfdrhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tfdrhh_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tfdrhh\",\n                                \"scale\": [\n                                    1.0001115798950195,\n                                    1.0000137090682983,\n                                    0.9999946355819702\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bde00d008f88f164609418d516335b1b\"\n                            }\n                        },\n                        \"door_tonlzz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tonlzz_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tonlzz\",\n                                \"scale\": [\n                                    1.0001226663589478,\n                                    1.000045895576477,\n                                    0.9999911189079285\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\",\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"45ed1765b26e97c4213bb7dad0a765ea\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": 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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_18\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_18\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_19\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": 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1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_21\",\n                                \"category\": \"downlight\",\n                                \"model\": 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  \"name\": \"downlight_fisfbn_22\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_23\": {\n                            \"class_module\": 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             }\n                        },\n                        \"downlight_fisfbn_24\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_24\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_25\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_25\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_26\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_26\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_27\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_27\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_28\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_28\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_29\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_29\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": 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                        ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_31\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_31\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_32\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_32\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_33\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_33\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_34\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_34\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_35\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_35\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c1bb38cf03056ccc35dfe8ee845bf9d5\"\n                            }\n                        },\n                        \"downlight_nlhffs_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.0003280639648438,\n   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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c1bb38cf03056ccc35dfe8ee845bf9d5\"\n                            }\n                        },\n                        \"downlight_nlhffs_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_7\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.6001263856887817,\n      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        ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"6b127bf60fbcf019bad1beb1aefface4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_zojpvs_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    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        \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"drop_in_sink_awvzkn_0\",\n                                \"category\": \"drop_in_sink\",\n                                \"model\": \"awvzkn\",\n                                \"scale\": [\n                                    1.0000107288360596,\n                                    1.0000001192092896,\n                                    0.9999061226844788\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"1d9413156c02a950ffa19a8e367e5a0c\",\n                                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                               ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"8d08f91d2693c7c134ad02d14bd899c3\"\n                            }\n                        },\n                        \"electric_switch_gashan_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_21\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                   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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_vcsslq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vcsslq_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vcsslq\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.0000070333480835,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"70c0007261d4b8bfee86dd0c6d617792\"\n                            }\n                        },\n                        \"floors_vmamhf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vmamhf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vmamhf\",\n                                \"scale\": [\n                                    1.0000053644180298,\n                                    1.0000113248825073,\n                                    0.9999330043792725\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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                         }\n                        },\n                        \"lawn_wwoqjw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_wwoqjw_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"wwoqjw\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"1cd4240cdd133735efa4c44b73ecfdf8\"\n                            }\n                        },\n                        \"mirror_catitv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_catitv_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"catitv\",\n                                \"scale\": [\n                                    0.9931772351264954,\n                                    1.000032901763916,\n                                    0.9999788403511047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                    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\"scale\": [\n                                    0.9932603240013123,\n                                    0.9999375939369202,\n                                    1.0000180006027222\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ef96026ff7f066e8a0b906c7549920f3\"\n                            }\n                        },\n                        \"mirror_kglofh_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_kglofh_1\",\n                                \"category\": \"mirror\",\n                                \"model\": \"kglofh\",\n                                \"scale\": [\n                                    0.9932603240013123,\n                                    0.9999375939369202,\n                                    1.0000180006027222\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ef96026ff7f066e8a0b906c7549920f3\"\n                            }\n                        },\n                        \"mirror_kglofh_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"expected_file_hash\": \"a9ece4b9fa4766ad3c98f267413881b2\"\n                            }\n                        },\n                        \"mirror_ndvgah_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ndvgah_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ndvgah\",\n                                \"scale\": [\n                                    0.9933433532714844,\n                                    1.0000016689300537,\n                                    1.0000172853469849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                       \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ee1604ac7067bb7b8192df4d17d80751\"\n                            }\n                        },\n                        \"multi_station_furniture_sink_upwldu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"multi_station_furniture_sink_upwldu_0\",\n                                \"category\": \"multi_station_furniture_sink\",\n                                \"model\": \"upwldu\",\n                                \"scale\": [\n                                    1.0000449419021606,\n                                    0.9999862909317017,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"455cd8c94ed9d25ab40b4b57bb11fad0\"\n                            }\n                        },\n                        \"nightstand_wbxekb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.9999943971633911,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b503c4c61c37fc3850ad53c64038c0a\"\n                            }\n                        },\n                        \"nightstand_wbxekb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_wbxekb_1\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"wbxekb\",\n                                \"scale\": [\n                                    1.0000756978988647,\n                                    0.9999943971633911,\n                                    0.9999978542327881\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3b503c4c61c37fc3850ad53c64038c0a\"\n                            }\n                        },\n                        \"nightstand_wbxekb_2\": {\n                            \"class_module\": 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                   }\n                        },\n                        \"openable_window_eyvzfu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"openable_window_eyvzfu_0\",\n                                \"category\": \"openable_window\",\n                                \"model\": \"eyvzfu\",\n                                \"scale\": [\n                                    0.999903678894043,\n                                    0.9999958872795105,\n                                    1.0000061988830566\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e34a94e1d82b76b0ae1e4a36c66c936\"\n                            }\n                        },\n                        \"oven_ffitak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"oven_ffitak_0\",\n                                \"category\": \"oven\",\n                                \"model\": \"ffitak\",\n                                \"scale\": [\n                                    0.9999300241470337,\n                                    1.0000790357589722,\n                                    1.000065803527832\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_fmlmox_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_fmlmox_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"fmlmox\",\n                                \"scale\": [\n                                    1.001151204109192,\n                                    1.0000145435333252,\n                                    0.9997385144233704\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"18c01c829a9938e7b32d5e672579d134\"\n                            }\n                        },\n                        \"painting_fqlxxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_fqlxxd_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"fqlxxd\",\n                                \"scale\": 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          \"category\": \"painting\",\n                                \"model\": \"fwuole\",\n                                \"scale\": [\n                                    1.0001332759857178,\n                                    0.9999703168869019,\n                                    0.9999935626983643\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d4ddf6588a91f758469d81ae82b0200a\"\n                            }\n                        },\n                        \"painting_gardkz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_wwnloz_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"wwnloz\",\n                                \"scale\": [\n                                    1.0006263256072998,\n                                    1.0002787113189697,\n                                    1.0003252029418945\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"391a3ff28bc83978a533078c656e9804\"\n                            }\n                        },\n                      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\"expected_file_hash\": \"8ab5b790e507c6217d07c039c251834a\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                              \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n         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   \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_4\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_5\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        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\"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_7\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"pot_plant_xcybvc_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_8\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\"\n                            }\n                        },\n                        \"radiator_lwgvaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"radiator_lwgvaq_0\",\n                                \"category\": \"radiator\",\n                                \"model\": \"lwgvaq\",\n                                \"scale\": [\n                                    1.0002895593643188,\n                                    1.0000749826431274,\n            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   \"scale\": [\n                                    1.0001897811889648,\n                                    0.9999998211860657,\n                                    1.000010371208191\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\"\n                            }\n                        },\n                        \"rail_fence_roemfr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_roemfr_1\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"roemfr\",\n                                \"scale\": [\n                                    1.0001897811889648,\n                                    0.9999998211860657,\n                                    1.000010371208191\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"00d612f1a1cb38a11c6b79e584de8222\"\n                            }\n                        },\n                        \"rail_fence_wvfgad_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_wvfgad_0\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"wvfgad\",\n                                \"scale\": [\n                                    1.0001921653747559,\n                                    0.9999996423721313,\n                                    0.9999951124191284\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\": \"2d9bba265cf1490672f45665bd172fe2\"\n                            }\n                        },\n                        \"rail_fence_wvfgad_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_wvfgad_1\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"wvfgad\",\n                                \"scale\": [\n                                    0.9997822642326355,\n                                    0.9999996423721313,\n                                    0.9999951124191284\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\": \"2d9bba265cf1490672f45665bd172fe2\"\n                            }\n                        },\n                        \"roof_amxayl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"roof_amxayl_0\",\n                                \"category\": \"roof\",\n                                \"model\": \"amxayl\",\n                                \"scale\": [\n                                    0.9999976754188538,\n                                    0.9999983310699463,\n                                    0.9999141693115234\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd9e148e519f1028aa308d9df652be80\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"roof_jqqtaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"roof_jqqtaq_0\",\n                                \"category\": \"roof\",\n                                \"model\": \"jqqtaq\",\n                                \"scale\": [\n                                    1.0000015497207642,\n                                    1.0000005960464478,\n                                    0.999950647354126\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7ffd7aab050722aedfd7779af372a434\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_hqxyvs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_hqxyvs_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"hqxyvs\",\n                                \"scale\": [\n                                    1.0000630617141724,\n                                    0.9999338984489441,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"7c47f35a085054721abfd4261c9fc9ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_podyre_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_podyre_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"podyre\",\n                                \"scale\": [\n                                    0.9999228715896606,\n                                    0.9999228715896606,\n                                    1.0000269412994385\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"ed83a25799564c3777528261f603fffd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_podyre_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_podyre_1\",\n                                \"category\": \"room_light\",\n                                \"model\": \"podyre\",\n                                \"scale\": 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    \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_10\": {\n                            \"class_module\": 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                   },\n                        \"shelf_amyper_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_11\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_2\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                             ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_5\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_6\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_7\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\"\n                            }\n                        },\n                        \"shelf_amyper_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                   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        ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4480c4756df602743a177feda1edd520\"\n                            }\n                        },\n                        \"shelf_pfusrd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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                     ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_qkgvsz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_qkgvsz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"qkgvsz\",\n                                \"scale\": [\n                                    0.9999993443489075,\n                                    0.9999734163284302,\n                                    0.9996344447135925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7c303ed3ec7508da59bc195b929bc2d3\"\n                            }\n                        },\n                        \"showerhead_kdvrbf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_kdvrbf_0\",\n                                \"category\": 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                 \"args\": {\n                                \"name\": \"showerhead_lrfpvk_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"lrfpvk\",\n                                \"scale\": [\n                                    0.9998265504837036,\n                                    1.0000230073928833,\n                                    1.000001072883606\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"c7e7022641839c1a95cb5fe07b621e69\"\n                            }\n                        },\n                        \"showerhead_vbijwn_0\": {\n                 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                        \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"40f822e4cc6c86f07b2b79ff42032cce\"\n                            }\n                        },\n                        \"sliding_door_lrvyvc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_lrvyvc_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"lrvyvc\",\n                                \"scale\": [\n                                    0.9999122023582458,\n                                    1.000001072883606,\n                                    1.0000181198120117\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"bd352e7c99702cfb43a99090af6ff865\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_0\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                          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\"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_11\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.088773250579834,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_12\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.2041987180709839,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_2\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.828336775302887,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_3\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9631685018539429,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_4\": {\n                            \"class_module\": 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\"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_5\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0907971858978271,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_6\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.099666953086853,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_2\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sliding_door_tprpvb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_7\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                  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\"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\"\n                            }\n                        },\n                        \"sofa_hiphpn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_hiphpn_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"hiphpn\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000008463859558,\n                                    1.0000444650650024\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"4434b1834510c5d500b67d4407632beb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_1\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_wnzdke_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_wnzdke_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"wnzdke\",\n                                \"scale\": [\n                     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    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_2\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": 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 \"name\": \"wall_clock_oqmbtp_0\",\n                                \"category\": \"wall_clock\",\n                                \"model\": \"oqmbtp\",\n                                \"scale\": [\n                                    1.0004478693008423,\n                                    1.000062108039856,\n                                    0.9999592900276184\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d60ae31dfcab0beb701c1263c7646ff8\"\n                            }\n                        },\n                        \"wall_mounted_light_bkaivt_0\": {\n                            \"class_module\": 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  \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"d61277c3bc2e2176fef5d4514973404b\"\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n          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                    \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n  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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_4\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n      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                           \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e70eaf770a4567ca7f443691c0fd24c5\"\n                            }\n                        },\n                        \"wall_mounted_tv_ovzajm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_ovzajm_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"ovzajm\",\n                                \"scale\": [\n                                    1.0003174543380737,\n                                    0.9999998211860657,\n                                    0.999970555305481\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"1aaa72b1c6322397419b6a7eb0a39e44\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_aescmv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_aescmv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"aescmv\",\n                                \"scale\": [\n                                    0.9999967813491821,\n                                    0.9998936653137207,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f80192366bb5f121c924853d14207467\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ahpkeh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ahpkeh_0\",\n                                \"category\": \"walls\",\n                 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{\n                                \"name\": \"walls_axkjhh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"axkjhh\",\n                                \"scale\": [\n                                    1.0000401735305786,\n                                    0.9999582171440125,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"96503b6a723c2cd7019f512e6d298c90\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_babjhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"walls_bqocyc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bqocyc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bqocyc\",\n                                \"scale\": [\n                                    0.9998852014541626,\n                                    1.0000405311584473,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"62b1b6c63c549257897578d856342d87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_btcoak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_btcoak_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"btcoak\",\n                                \"scale\": [\n                                    1.0000944137573242,\n                                    0.9999912977218628,\n                                    0.9999747276306152\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"44b642c7536ebe3fc1c503090c878bb5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chsrxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chsrxr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chsrxr\",\n                                \"scale\": [\n                                    0.9999439120292664,\n                                    1.000038981437683,\n                                    1.0000029802322388\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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                      \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cjxcfc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cjxcfc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cjxcfc\",\n                                \"scale\": [\n                                    1.000046730041504,\n                                    1.0000485181808472,\n                                    1.0000022649765015\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"23a96da372595b820f6035da5f9a9938\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cnlgjq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnlgjq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnlgjq\",\n                                \"scale\": [\n                                    1.0000011920928955,\n                                    1.000003457069397,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cnqnew_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnqnew_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cnqnew\",\n                                \"scale\": [\n                                    1.0000557899475098,\n                                    1.0002148151397705,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d3258eab8d551aba28a9ee8b51360738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dhsptd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dhsptd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dhsptd\",\n                                \"scale\": [\n                                    0.9999762773513794,\n                                    1.0000284910202026,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cbbb802d0f52baadf58d3d2aa418845a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dmdnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dmdnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dmdnmr\",\n                                \"scale\": [\n                                    1.0000286102294922,\n                                    0.9999963045120239,\n                                    0.9999678730964661\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9af97d00962f863dbe89537b4cd5194a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duatwe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duatwe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duatwe\",\n                                \"scale\": [\n                                    1.0000064373016357,\n                                    0.9996722340583801,\n                                    1.0001468658447266\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duepvi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duepvi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duepvi\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9998845458030701,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_esuxme_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_esuxme_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"esuxme\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    1.0000441074371338\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"36c02cbeae814d6f06fdab82fde9362e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_evgaml_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_evgaml_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"evgaml\",\n                                \"scale\": [\n                                    1.0001057386398315,\n                                    0.9999967813491821,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"81c6b5c2d9bb69d4307df03c7bf8fbf3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fdxtnx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fdxtnx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fdxtnx\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    0.9998922348022461,\n                                    0.9998988509178162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3b9394cc62a797d6e72d377abc84eb7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ffeqfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ffeqfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ffeqfb\",\n                                \"scale\": [\n                                    1.000000238418579,\n                                    1.0001003742218018,\n                                    1.0000234842300415\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8468573a0c0efdd0d6b0d4f299c979e8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fglkmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fglkmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fglkmr\",\n                                \"scale\": [\n                                    0.9999951124191284,\n                                    1.0000271797180176,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9107a6e2cdc12fa39876f5901f76f442\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fkmigx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fkmigx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fkmigx\",\n                                \"scale\": [\n                                    0.9999145865440369,\n                                    1.0000003576278687,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cf395fc0aa326ffa44f6b86e49c33da4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_frgwwc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_frgwwc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"frgwwc\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    1.0000317096710205,\n                                    1.0000046491622925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fuiqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fuiqpw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fuiqpw\",\n                                \"scale\": [\n                                    0.9999467730522156,\n                                    1.000038743019104,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fvckzc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fvckzc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fvckzc\",\n                                \"scale\": [\n                                    0.9998689293861389,\n                                    0.9999626278877258,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxeanq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxeanq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxeanq\",\n                                \"scale\": [\n                                    0.9999138712882996,\n                                    0.999982476234436,\n                                    1.0000100135803223\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"51d2424ee7297ba15ebe8a6298445de9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxofyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxofyj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxofyj\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999547004699707,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fyjrnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fyjrnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fyjrnv\",\n                                \"scale\": [\n                                    0.999866783618927,\n                                    0.9999337792396545,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ggtriw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ggtriw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ggtriw\",\n                                \"scale\": [\n                                    1.0001455545425415,\n                                    0.9999977946281433,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gjrlnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gjrlnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gjrlnv\",\n                                \"scale\": [\n                                    0.9999542236328125,\n                                    1.000038743019104,\n                                    1.0000239610671997\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmbnp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmbnp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmbnp\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000717639923096,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmwvy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmwvy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmwvy\",\n                                \"scale\": [\n                                    1.0000468492507935,\n                                    0.9999639987945557,\n                                    0.9999344944953918\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkwemu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkwemu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkwemu\",\n                                \"scale\": [\n                                    0.9997715950012207,\n                                    0.9999929666519165,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gmwqcf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gmwqcf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gmwqcf\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    1.0000061988830566,\n                                    1.0005370378494263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gpfsgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gpfsgj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gpfsgj\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000206232070923,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_grbaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_grbaxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"grbaxo\",\n                                \"scale\": [\n                                    0.9998166561126709,\n                                    0.9999743700027466,\n                                    0.9999679923057556\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gupuvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gupuvk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gupuvk\",\n                                \"scale\": [\n                                    0.9999587535858154,\n                                    1.000302791595459,\n                                    1.0000627040863037\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_guxxwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_guxxwh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"guxxwh\",\n                                \"scale\": [\n                                    0.9998859167098999,\n                                    1.0000396966934204,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hajmoj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hajmoj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hajmoj\",\n                                \"scale\": [\n                                    1.000004768371582,\n                                    0.9999983310699463,\n                                    0.9999830722808838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hbacbx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hbacbx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hbacbx\",\n                                \"scale\": [\n                                    1.0000141859054565,\n                                    1.000041127204895,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"39ee95a560a06ea1e357a8cff8a58120\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hczqhb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hczqhb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hczqhb\",\n                                \"scale\": [\n                                    1.0000282526016235,\n                                    0.999974250793457,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3ad447b6d13fc55da48ea17b28679ec9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hfxeuh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hfxeuh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hfxeuh\",\n                                \"scale\": [\n                                    0.9997124075889587,\n                                    0.9999848008155823,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7604afa1a38cd7ff0d1095f0373e5317\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hgaazx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hgaazx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hgaazx\",\n                                \"scale\": [\n                                    0.9999676942825317,\n                                    0.9998993277549744,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80c9e610d9946456ba24615a72273e46\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hhbfdf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hhbfdf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hhbfdf\",\n                                \"scale\": [\n                                    1.000022292137146,\n                                    0.9999868273735046,\n                                    0.9999457001686096\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9960886844249e083693960659d27b9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hoyudj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hoyudj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hoyudj\",\n                                \"scale\": [\n                                    1.000164270401001,\n                                    0.9999976754188538,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1c62cac2ec7678d6fccb52c50ce1f371\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hqkpgu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hqkpgu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hqkpgu\",\n                                \"scale\": [\n                                    1.000036597251892,\n                                    0.9997795820236206,\n                                    1.000002384185791\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1e1dfd76fb90a257ab488afa768b9ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_htpoqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_htpoqj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"htpoqj\",\n                                \"scale\": [\n                                    1.0000275373458862,\n                                    1.000287413597107,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"725c81c7b6a082a0f843e2065b5d6210\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hwzmyf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hwzmyf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hwzmyf\",\n                                \"scale\": [\n                                    1.0001691579818726,\n                                    1.0000174045562744,\n                                    1.0000296831130981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a8141365919ab57ba229bcee5576d6d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzepkq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzepkq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzepkq\",\n                                \"scale\": [\n                                    0.9999510049819946,\n                                    1.0000250339508057,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"10c5b4dd10d4847c59e303cae4030781\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzhlyw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzhlyw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzhlyw\",\n                                \"scale\": [\n                                    1.0000052452087402,\n                                    0.9999136924743652,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"406c5f180d4be6e726f3e519aac09218\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ipoatq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ipoatq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ipoatq\",\n                                \"scale\": [\n                                    0.9999895095825195,\n                                    0.9999748468399048,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9524088e62530e5bd8aa66f24a066be2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_isnclr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_isnclr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"isnclr\",\n                                \"scale\": [\n                                    0.9999971985816956,\n                                    0.9999990463256836,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"84fd79ea13745314a88a63aa64c34b56\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ivezzr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ivezzr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ivezzr\",\n                                \"scale\": [\n                                    0.999926745891571,\n                                    1.000006914138794,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f0a34e7b4723af0869106ed0eb108066\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_izcwsg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_izcwsg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"izcwsg\",\n                                \"scale\": [\n                                    0.9998259544372559,\n                                    1.0001044273376465,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jbwydo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jbwydo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jbwydo\",\n                                \"scale\": [\n                                    0.9999164342880249,\n                                    1.0001364946365356,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jshqhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jshqhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jshqhr\",\n                                \"scale\": [\n                                    1.0000842809677124,\n                                    1.0000399351119995,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9805d60e2b8222dc7daf2c2bb8973ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jxctiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jxctiw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jxctiw\",\n                                \"scale\": [\n                                    1.0003010034561157,\n                                    0.9999635815620422,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"891db01abb2fbf36c15289cfedc300a5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_khkkca_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_khkkca_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"khkkca\",\n                                \"scale\": [\n                                    0.9999955892562866,\n                                    0.9997677803039551,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a74ec553a652e9d7d5b718a230983971\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_kkltnz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_kkltnz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"kkltnz\",\n                                \"scale\": [\n                                    0.9999747276306152,\n                                    1.0001676082611084,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b9764b000c7e78a039f14b35a0e5123c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_knhryu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_knhryu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"knhryu\",\n                                \"scale\": [\n                                    0.9999251961708069,\n                                    0.9999673366546631,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"673b6a8f97f4fe9c3f785581afc4d5c6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ktvxpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ktvxpa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ktvxpa\",\n                                \"scale\": [\n                                    1.0000466108322144,\n                                    1.000028133392334,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7eb94ce67345cc5f24e070cd9eb436d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lbxvwa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lbxvwa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lbxvwa\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000089406967163,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3e9954ea345d1f7d46af1abc19707c87\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lmjkkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lmjkkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lmjkkp\",\n                                \"scale\": [\n                                    0.9999988079071045,\n                                    0.9998951554298401,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ltqrqp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ltqrqp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ltqrqp\",\n                                \"scale\": [\n                                    1.0001306533813477,\n                                    0.9999893307685852,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lveewk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lveewk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lveewk\",\n                                \"scale\": [\n                                    0.9999539852142334,\n                                    0.9998413920402527,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lxqjnd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lxqjnd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lxqjnd\",\n                                \"scale\": [\n                                    1.0001026391983032,\n                                    0.9999812841415405,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lzkdkf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lzkdkf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lzkdkf\",\n                                \"scale\": [\n                                    1.0000964403152466,\n                                    0.9999716877937317,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgwnwy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgwnwy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgwnwy\",\n                                \"scale\": [\n                                    0.9999656677246094,\n                                    1.0001095533370972,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mianco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mianco_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mianco\",\n                                \"scale\": [\n                                    1.0000030994415283,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6409d5aac1db60adc7068f56a98d4925\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mxhvpj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mxhvpj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mxhvpj\",\n                                \"scale\": [\n                                    0.9999787211418152,\n                                    1.0001676082611084,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"567e4e9bd6742e449f5bea6f52038f97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nfmhed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nfmhed_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nfmhed\",\n                                \"scale\": [\n                                    0.9999906420707703,\n                                    1.0001713037490845,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nhvigl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nhvigl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nhvigl\",\n                                \"scale\": [\n                                    1.0002909898757935,\n                                    0.9999896883964539,\n                                    1.0000035762786865\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_noclci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_noclci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"noclci\",\n                                \"scale\": [\n                                    1.0002578496932983,\n                                    0.9999694228172302,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7a1d4083f573696b12042db81cfad4bf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nuaoac_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nuaoac_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nuaoac\",\n                                \"scale\": [\n                                    1.000181794166565,\n                                    0.9999966621398926,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oehfxy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oehfxy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oehfxy\",\n                                \"scale\": [\n                                    1.000117301940918,\n                                    1.0000636577606201,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olxjsy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olxjsy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olxjsy\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    0.9997128248214722,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olywna_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olywna_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olywna\",\n                                \"scale\": [\n                                    0.9999077916145325,\n                                    1.0000104904174805,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8a942cd9259129d8d4e57af2f874f82e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ondmvj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ondmvj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ondmvj\",\n                                \"scale\": [\n                                    1.0001270771026611,\n                                    1.0000394582748413,\n                                    0.9999598860740662\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cf91063b27fd6f6c2a20f159933dbfe8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_onwdhr_0\": {\n                            \"class_module\": 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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ooixcz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ooixcz\",\n                                \"scale\": [\n                                    1.0000063180923462,\n                                    1.0000216960906982,\n                                    0.9999969005584717\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8931d85797f87d0ca51e2426c7880326\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oyhdlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oyhdlq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oyhdlq\",\n                                \"scale\": [\n                                    0.9998031258583069,\n                                    1.0000176429748535,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e8cc47abcd54dace7edeeb38394d15ab\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paognv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paognv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paognv\",\n                                \"scale\": [\n                                    1.000030517578125,\n                                    1.0002267360687256,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4cc966d4f08349625bd7f3ca18484aef\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pdahqy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pdahqy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pdahqy\",\n                                \"scale\": [\n                                    0.9997052550315857,\n                                    1.0000066757202148,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"43c0b40dbff0643af8cfedc5f92b056a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pofjys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pofjys_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pofjys\",\n                                \"scale\": [\n                                    1.0000216960906982,\n                                    1.000051498413086,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"68837f5ac4fefeb053999be090ea4ed0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pozods_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pozods_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pozods\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.0000290870666504,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bdd4740e5986b5d30af5fff1767f80d5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pwjyds_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pwjyds_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pwjyds\",\n                                \"scale\": [\n                                    1.000086784362793,\n                                    0.9999912977218628,\n                                    0.9999852776527405\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a0824cac071c024f207e47ccfb7ac396\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qlnqyd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qlnqyd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qlnqyd\",\n                                \"scale\": [\n                                    1.0002201795578003,\n                                    1.0000241994857788,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f5ac66235ef027b2a13902dfea5d74a8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpkfgi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpkfgi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpkfgi\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    0.9999968409538269\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dee82f803bcbfa17517d5fe8d04143ec\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpxhxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpxhxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpxhxd\",\n                                \"scale\": [\n                                    1.0000958442687988,\n                                    0.9999675750732422,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5f6547cba435a5e4783f9ac99c180634\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qsvtbs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qsvtbs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qsvtbs\",\n                                \"scale\": [\n                                    1.000019907951355,\n                                    1.0001133680343628,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qzwuwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qzwuwo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qzwuwo\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999549388885498,\n                                    1.000033974647522\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"7bc0aa5cd7be5459dbdc22194f61bb61\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rdcvhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rdcvhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rdcvhx\",\n                                \"scale\": [\n                                    0.9998269081115723,\n                                    0.999972403049469,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"200060273e5ec27a175a1f8b2d8a2558\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rfpiin_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rfpiin_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rfpiin\",\n                                \"scale\": [\n                                    0.9998872876167297,\n                                    0.9998480081558228,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rogorx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rogorx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rogorx\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9997554421424866,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_sgqckc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_sgqckc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"sgqckc\",\n                                \"scale\": [\n                                    1.00001859664917,\n                                    1.0001447200775146,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_skoxkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_skoxkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"skoxkp\",\n                                \"scale\": [\n                                    0.9999924898147583,\n                                    1.0000261068344116,\n                                    0.9999475479125977\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_snssjy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_snssjy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"snssjy\",\n                                \"scale\": [\n                                    0.9999773502349854,\n                                    1.0001850128173828,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0e079af31d2fcc0649e429cfcc265da2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_somuet_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_somuet_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"somuet\",\n                                \"scale\": [\n                                    1.000002384185791,\n                                    1.0000072717666626,\n                                    1.000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"expected_file_hash\": \"23aa1dd90db138e86ea6a81b933dfd31\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_soubdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_soubdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"soubdp\",\n                                \"scale\": [\n                                    0.9998795390129089,\n                                    1.000030517578125,\n                                    1.0000603199005127\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tcizfi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tcizfi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tcizfi\",\n                                \"scale\": [\n                                    1.0000131130218506,\n                                    1.0001007318496704,\n                                    0.9999462962150574\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"75da7d97fa08862731825d414fff34f6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tdzxzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tdzxzv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tdzxzv\",\n                                \"scale\": [\n                                    0.999958336353302,\n                                    1.000003457069397,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b2d3b397bb8e73572e203a41d5e063ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_thipzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_thipzw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"thipzw\",\n                                \"scale\": [\n                                    1.000144362449646,\n                                    0.9999874234199524,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f1652309c5675e12099448c42f246b23\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tlcifm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tlcifm_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tlcifm\",\n                                \"scale\": [\n                                    0.9999516606330872,\n                                    0.9999920129776001,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tvjrao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tvjrao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tvjrao\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9997362494468689,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tyjlww_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tyjlww_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tyjlww\",\n                                \"scale\": [\n                                    0.999956488609314,\n                                    1.0001850128173828,\n                                    0.9999752640724182\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubgakb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubgakb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubgakb\",\n                                \"scale\": [\n                                    0.9999848008155823,\n                                    1.0,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubscrh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubscrh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubscrh\",\n                                \"scale\": [\n                                    1.0000135898590088,\n                                    0.9998775124549866,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udgvuj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udgvuj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udgvuj\",\n                                \"scale\": [\n                                    0.9998785257339478,\n                                    0.9998557567596436,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udqkcs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udqkcs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udqkcs\",\n                                \"scale\": [\n                                    0.9999690055847168,\n                                    0.9999529719352722,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uplnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uplnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uplnmr\",\n                                \"scale\": [\n                                    1.0001013278961182,\n                                    0.9999964237213135,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_urngpl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_urngpl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"urngpl\",\n                                \"scale\": [\n                                    0.9999960660934448,\n                                    1.0001499652862549,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uubhfj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"args\": {\n                                \"name\": \"walls_uuxqzk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uuxqzk\",\n                                \"scale\": [\n                                    0.9997155070304871,\n                                    0.999993085861206,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uvgxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"walls_uzxqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uzxqqb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uzxqqb\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    1.0001778602600098,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8d90b08abd843b5d1d81754c1503360d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcftmx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcftmx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcftmx\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0001753568649292,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4357a4a2486598714769f21d93f3eb4b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcgulk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcgulk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcgulk\",\n                                \"scale\": [\n                                    1.000012755393982,\n                                    1.0000059604644775,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c36f245f4ce0114e8840558266936fc0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vdywfg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vdywfg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vdywfg\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0002204179763794,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c957fbf1c39a9663e580205244f213e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vfibix_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vfibix_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vfibix\",\n                                \"scale\": [\n                                    1.0000523328781128,\n                                    1.0000444650650024,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a621d4d3a362cb5b09f3b4bb5b6d28fc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vmsoas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vmsoas_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vmsoas\",\n                                \"scale\": [\n                                    1.0000299215316772,\n                                    1.0000975131988525,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b6a6936fa0668ebbc73da82e30e4d8bd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vpuhwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vpuhwn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vpuhwn\",\n                                \"scale\": [\n                                    0.99983149766922,\n                                    1.0000014305114746,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"34d6f85aaa51c44e1e695482865a9725\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wbjwyy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wbjwyy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wbjwyy\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.9999871253967285,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_1\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_2\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_3\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_4\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_5\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_6\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wrodjv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wrodjv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wrodjv\",\n                                \"scale\": [\n                                    1.0002094507217407,\n                                    1.0000132322311401,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4dea63879e6171f3084843e7eb7502a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wtpbpe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wtpbpe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wtpbpe\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    1.0002048015594482,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wveiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wveiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wveiea\",\n                                \"scale\": [\n                                    1.0000367164611816,\n                                    1.0000665187835693,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xbotyv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xbotyv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xbotyv\",\n                                \"scale\": [\n                                    0.999990701675415,\n                                    0.9999972581863403,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xjxddw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xjxddw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xjxddw\",\n                                \"scale\": [\n                                    1.000271201133728,\n                                    1.0000120401382446,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xnutie_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_xnutie_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"xnutie\",\n                                \"scale\": [\n                                    0.9999076724052429,\n                                    0.9999979138374329,\n                                    0.9999707937240601\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ybcyqk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ybcyqk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ybcyqk\",\n                                \"scale\": [\n                                    1.0002689361572266,\n                                    1.0000149011611938,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zfhsih_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zfhsih_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zfhsih\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999537467956543,\n                                    1.0000230073928833\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zpjckn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zpjckn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zpjckn\",\n                                \"scale\": [\n                                    0.9999418258666992,\n                                    1.00014328956604,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zqexop_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zqexop_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zqexop\",\n                                \"scale\": [\n                                    0.9999964833259583,\n                                    0.999962329864502,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zufhrv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zufhrv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zufhrv\",\n                                \"scale\": [\n                                    1.0000169277191162,\n                                    1.0000722408294678,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zxlndv_0\": {\n                            \"class_module\": 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},\n                        \"wardrobe_ktworp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_ktworp_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"ktworp\",\n                                \"scale\": [\n                                    1.000016450881958,\n                                    1.0000059604644775,\n                                    1.0000040531158447\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n             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         \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_tjwkje_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.001570701599121,\n                                        3.3189010620117188,\n                                        2.712042808532715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        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},\n                                \"non_kin\": {}\n                            },\n                            \"countertop_fjkase_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        21.92742156982422,\n                                        0.47523143887519836,\n                                        0.8967929482460022\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.9999992251396179,\n                                        0.0012719199294224381\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"countertop_ikwqer_0\": {\n         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                     \"pos\": [\n                                        4.181293964385986,\n                                        -0.4952348470687866,\n                                        0.8694858551025391\n                                    ],\n                                    \"ori\": [\n                                        8.736824241850627e-08,\n                                        3.0509781367982214e-09,\n                                        0.03489910811185837,\n                                        0.9993908405303955\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"countertop_kelzer_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.0294647216796875,\n                                        -1.983711838722229,\n                                        0.8694865107536316\n                                    ],\n                                    \"ori\": [\n                                        7.628955106531166e-11,\n                                        6.869142754606372e-11,\n                                        0.6691307425498962,\n                                        0.7431447505950928\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"countertop_sjxber_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        23.697965621948242,\n                                        -2.061845541000366,\n                                        0.9085924625396729\n                 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\"joint_pos\": [\n                                    2.476601210644926e-20\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_iuuykr_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -12.70078182220459,\n                                        18.684579849243164,\n                                        1.923855185508728\n                                    ],\n                                    \"ori\": [\n                                        8.173467358574271e-05,\n                                        7.773759716656059e-05,\n                                        -0.7246024012565613,\n                  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                                2.7507283687591553\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        1.0,\n                                        7.549790126404332e-08\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        22.43379020690918,\n                                        11.02707290649414,\n                                        2.7507283687591553\n                                    ],\n                                    \"ori\": [\n                                        -1.0194274757679977e-08,\n                                        -4.41540318305185e-15,\n                                        1.0,\n                                        -4.331257628109597e-07\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_10\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        15.605690002441406,\n                                        -0.6326501369476318,\n                                        2.7507283687591553\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"downlight_fisfbn_11\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        13.170562744140625,\n                                        -0.6275737881660461,\n                                        2.7507283687591553\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.7071068286895752,\n                                        0.7071067094802856\n                                    ]\n                                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2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        -1.197885562257145e-21,\n                                        2.5236762210708273e-14,\n                                        -0.7071068286895752,\n                                        0.7071067094802856\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    0.0\n                  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      \"model\": \"knspbi\",\n                    \"scale\": [\n                        1.0000227689743042,\n                        1.0000056028366089,\n                        1.0000313520431519\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\",\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                        1.0000250339508057,\n                  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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                        1.0000250339508057,\n                        1.000002384185791,\n                        1.0000070333480835\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                       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\"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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                   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\"args\": {\n                    \"name\": \"bush_xsqlhv_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"xsqlhv\",\n                    \"scale\": [\n                        1.0000061988830566,\n                        0.9999860525131226,\n                        1.0000078678131104\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e9cdd417d5f42709e4f83e9bf04c1eff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_xsqlhv_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_xsqlhv_1\",\n                    \"category\": \"bush\",\n                   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\"args\": {\n                    \"name\": \"tree_flkzbo_7\",\n                    \"category\": \"tree\",\n                    \"model\": \"flkzbo\",\n                    \"scale\": [\n                        0.7524778246879578,\n                        0.7524724006652832,\n                        0.752472460269928\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"650416c499a34f8b011c305ddc24f886\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        1.0415363311767578,\n                        1.041547417640686,\n                        1.0415396690368652\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.7750542163848877,\n                        0.7750498652458191,\n                        0.7750434279441833\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_10\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6568438410758972,\n                        0.656842827796936,\n                        0.6568325161933899\n                    ],\n                    \"fixed_base\": 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\"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_1\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_2\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6775b3a3769e8dfffae0198401394d7e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"eames_chair_ubmrms_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"eames_chair_ubmrms_3\",\n                    \"category\": \"eames_chair\",\n                    \"model\": \"ubmrms\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        0.999999463558197,\n                        0.9999688267707825\n                    ],\n                    \"fixed_base\": 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              \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_lsaxch_3\",\n                    \"category\": \"ottoman\",\n                    \"model\": \"lsaxch\",\n                    \"scale\": [\n                        1.0000507831573486,\n                        0.999936580657959,\n                        1.0001606941223145\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"33762aa2b8fe07fc47f3033dee5d2500\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_lsaxch_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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                 \"scale\": [\n                        1.0000680685043335,\n                        0.9999892115592957,\n                        0.99988853931427\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": \"c315177b40b3986a408bd3aa80ddfb67\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_bjwskl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_bjwskl_0\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"bjwskl\",\n                    \"scale\": [\n                        0.99996417760849,\n                        0.9999886751174927,\n                        1.0000299215316772\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_bjwskl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_bjwskl_1\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"bjwskl\",\n                    \"scale\": [\n                        0.99996417760849,\n                        0.9999886751174927,\n                        1.0000299215316772\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"8883671bf7401d7649ab08bd66a95d7c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_0\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_1\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_2\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_lligdl_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_lligdl_3\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"lligdl\",\n                    \"scale\": [\n                        0.9999939799308777,\n                        1.000012755393982,\n                        1.0000044107437134\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ae9c2cfd3d0af6d3dfb60faa44134f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_bskyog_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_bskyog_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"bskyog\",\n                    \"scale\": [\n                        0.9999735951423645,\n                        0.9999984502792358,\n                        0.9999542236328125\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"d8e26c7420e551433a79bc9397f19221\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_cozrjc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_cozrjc_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"cozrjc\",\n                    \"scale\": [\n                        1.0000355243682861,\n                        1.000028371810913,\n                        1.0000559091567993\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_cozrjc_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_cozrjc_1\",\n                    \"category\": \"sofa\",\n                    \"model\": \"cozrjc\",\n                    \"scale\": [\n                        1.0000355243682861,\n                        1.000028371810913,\n                        1.0000559091567993\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"e52429646aff3189d6fa944f458999ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_0\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_2\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_3\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_4\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_jgoolz_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_jgoolz_5\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"jgoolz\",\n                    \"scale\": [\n                        0.9999670386314392,\n                        0.9999598860740662,\n                        0.9999731183052063\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"f90bf09061a79aba8c8cbe604a03c7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_0\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_1\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_2\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_3\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"taboret_ivtoxu_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"taboret_ivtoxu_4\",\n                    \"category\": \"taboret\",\n                    \"model\": \"ivtoxu\",\n                    \"scale\": [\n                        1.000083327293396,\n                        1.000083327293396,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"c2106db858c066e3b9d5659fd6519fb0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"water_glass_bbpraa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"water_glass_bbpraa_0\",\n                    \"category\": \"water_glass\",\n                    \"model\": \"bbpraa\",\n                    \"scale\": [\n                        1.0005030632019043,\n                        1.000504970550537,\n                        0.9999057650566101\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"6604ae0c195e721402606bbba18ae6af\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_udatjt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_udatjt_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"udatjt\",\n                    \"scale\": [\n                        0.999976396560669,\n                        1.000006914138794,\n                        0.9999703764915466\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": 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                 \"expected_file_hash\": \"3ac6f3ae09e83773584aafeb8f177279\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseboard_dsajeh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseboard_dsajeh_0\",\n                    \"category\": \"baseboard\",\n                    \"model\": \"dsajeh\",\n                    \"scale\": [\n                        1.0000505447387695,\n                        0.9999988675117493,\n                        1.0001800060272217\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f9e08829e242129ed034205c472c25fe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"baseboard_peorza_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baseboard_peorza_0\",\n                    \"category\": \"baseboard\",\n                    \"model\": \"peorza\",\n                    \"scale\": [\n                        0.9999390840530396,\n                        1.0000016689300537,\n                        1.0001667737960815\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2b7209f9355acafab9825576e707dd03\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_fancyy_0\": {\n   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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_no_top_gjeoer_0\",\n                    \"category\": \"bottom_cabinet_no_top\",\n                    \"model\": \"gjeoer\",\n                    \"scale\": [\n                        0.9999522566795349,\n                        1.0000033378601074,\n                        0.9999667406082153\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b0d103ca51cfc25f51193b231d559940\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_no_top_rkgjer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n          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1.0000821352005005,\n                        1.0000149011611938,\n                        0.9986956119537354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f6fd2b5ec030ad97952bf7a27d11812b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_apkslx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_apkslx_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"apkslx\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999992251396179,\n                        1.0000026226043701\n    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               \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"92b843e892cedcb936baebe66eac1f33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_frqekm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_frqekm_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"frqekm\",\n                    \"scale\": [\n                        1.0000094175338745,\n                        1.0000001192092896,\n                        0.999937891960144\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\"\n                    ],\n                  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               }\n            },\n            \"ceilings_ibxzsn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_ibxzsn_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"ibxzsn\",\n                    \"scale\": [\n                        1.0000120401382446,\n                        1.0000014305114746,\n                        0.9997040629386902\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"b703cea128fe865e9a86194dea28930f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_iskjpi_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"ceilings_jjyrdh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"jjyrdh\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9999960064888,\n                        1.0003373622894287\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"dc3adab5b9b828fad59d139085ce35ed\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_khkogf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_khkogf_0\",\n                    \"category\": 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0.9999985098838806,\n                        1.0000051259994507,\n                        1.0003376007080078\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"2c55352da0bd29c833a0043f772d0719\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_nsysju_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_nsysju_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"nsysju\",\n                    \"scale\": [\n                        1.0000066757202148,\n                        1.0000131130218506,\n                        1.0\n                   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\"in_rooms\": [\n                        \"closet_1\"\n                    ],\n                    \"expected_file_hash\": \"bf8fcf7d53f4085a0d47428d5462571e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qenicw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qenicw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qenicw\",\n                    \"scale\": [\n                        0.9999836683273315,\n                        0.9999991059303284,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"459a595d9ea0375935adfd08ff7a384e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_shvqqe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_shvqqe_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"shvqqe\",\n                    \"scale\": [\n                        0.9999994039535522,\n                        1.0000087022781372,\n                        0.9999756217002869\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"9cc00c03181d8a273ba2afb116ef5eba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tbhzzb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tbhzzb_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tbhzzb\",\n                    \"scale\": [\n                        0.9999912977218628,\n                        1.0000078678131104,\n                        0.9995139241218567\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"utility_room_0\"\n                    ],\n                    \"expected_file_hash\": \"43de6d1771691f13e96124dcaff302d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tcwyvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tcwyvb_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tcwyvb\",\n                    \"scale\": [\n                        0.999995231628418,\n                        0.9999962449073792,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": \"b43545ac98755677a949d2306843cfee\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_tjwkje_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_tjwkje_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"tjwkje\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        0.999995231628418,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"dining_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6ecbd143b8d2620ca6f52edae9a23434\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_wbbkuv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_wbbkuv_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": 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            1.0000067949295044,\n                        1.0006266832351685\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"8cf2d6171e1727e4f72e2bdb8a99ac6d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"countertop_kelzer_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"countertop_kelzer_0\",\n                    \"category\": \"countertop\",\n                    \"model\": \"kelzer\",\n                    \"scale\": [\n                        1.0000444650650024,\n                        0.9999945759773254,\n                        1.0007061958312988\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"eb1e223a32a11560323fe400191a5946\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_crtrpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_crtrpa_0\",\n                    \"category\": \"door\",\n                    \"model\": \"crtrpa\",\n                    \"scale\": [\n                        1.0000602006912231,\n                        1.0000410079956055,\n                        0.9999841451644897\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"95f875bd753451b9fd324c8ab551af5d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_eduavq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_eduavq_0\",\n                    \"category\": \"door\",\n                    \"model\": \"eduavq\",\n                    \"scale\": [\n                        0.9997847676277161,\n                        1.0000203847885132,\n                        1.000014305114746\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"2c3aa8efc5f860d9df7d52203e6611da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_fnvpyu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_fnvpyu_0\",\n                    \"category\": \"door\",\n                    \"model\": \"fnvpyu\",\n                    \"scale\": [\n                        1.0002930164337158,\n                        0.999984085559845,\n                        1.000014066696167\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"755e7ef2f164ceb2f60a0b07c9253710\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_iuuykr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_iuuykr_0\",\n                    \"category\": \"door\",\n                    \"model\": \"iuuykr\",\n                    \"scale\": [\n                        1.000057339668274,\n                        1.0000216960906982,\n                        1.0000015497207642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d4f63912343f9527f78fdb0bdcf0962c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_kwbnhy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_0\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.0001516342163086,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_kwbnhy_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_1\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.007671594619751,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"e7c26151a20f3756ebfc0e76365e8cdb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_kwbnhy_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_27\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_27\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n  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\"args\": {\n                    \"name\": \"downlight_fisfbn_5\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_fisfbn_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_6\",\n                    \"category\": 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      1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_zojpvs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_zojpvs_0\",\n                    \"category\": \"downlight\",\n                    \"model\": \"zojpvs\",\n                    \"scale\": [\n                        0.9999998807907104,\n                        1.0002968311309814,\n                        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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"6b127bf60fbcf019bad1beb1aefface4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_zojpvs_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_zojpvs_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"zojpvs\",\n                    \"scale\": [\n                        0.9999998807907104,\n                        1.0002968311309814,\n                        0.998355507850647\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n   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                \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_zojpvs_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_zojpvs_4\",\n                    \"category\": \"downlight\",\n                    \"model\": \"zojpvs\",\n                    \"scale\": [\n                        0.9999998807907104,\n                        1.0002968311309814,\n                        0.998355507850647\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"6b127bf60fbcf019bad1beb1aefface4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_zojpvs_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_zojpvs_5\",\n                    \"category\": \"downlight\",\n                    \"model\": \"zojpvs\",\n                    \"scale\": [\n                        0.9999998807907104,\n                        1.0002968311309814,\n                        0.998355507850647\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"6b127bf60fbcf019bad1beb1aefface4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"driveway_hmbdky_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"driveway_hmbdky_0\",\n                    \"category\": \"driveway\",\n                    \"model\": \"hmbdky\",\n                    \"scale\": [\n                        1.0000028610229492,\n                        1.0000004768371582,\n                        0.9998961091041565\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"624e0298a4cf1665dc5d88879139ba31\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"drop_in_sink_awvzkn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"bddl_object_scope\": null\n                }\n            },\n            \"floors_qnvzkr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_qnvzkr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"qnvzkr\",\n                    \"scale\": [\n                        1.0000104904174805,\n                        1.000004529953003,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"1b83a057dfb020cb97d87d4dc8daf51d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_shuuqu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_shuuqu_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"shuuqu\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        1.0000165700912476,\n                        0.9999285936355591\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"a227993bc7daa05028c1c3fbf290d78d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_sirgua_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_sirgua_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"sirgua\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        1.0000005960464478,\n                        1.00011146068573\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"ef0ecacce2c727dbf22114f77cb024c9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_uftgek_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_uftgek_0\",\n                    \"category\": 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0.9999973177909851,\n                        1.0000057220458984,\n                        0.9999462366104126\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"26eb3e4f7a8b01f6d39dc593dabf2cdc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_vcsslq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_vcsslq_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"vcsslq\",\n                    \"scale\": [\n                        1.0000104904174805,\n                        1.0000070333480835,\n                        0.9999312162399292\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"70c0007261d4b8bfee86dd0c6d617792\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_vmamhf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_vmamhf_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"vmamhf\",\n                    \"scale\": [\n                        1.0000053644180298,\n                        1.0000113248825073,\n                        0.9999330043792725\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n          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\"expected_file_hash\": \"c69c2fe32dc9e40902d43ba0ae7d49cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_yfyxxu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_yfyxxu_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"yfyxxu\",\n                    \"scale\": [\n                        0.9999967217445374,\n                        1.0000355243682861,\n                        0.9999294877052307\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"2e85d67047cf2bbef8d9e26d6c1c1658\",\n                    \"bddl_object_scope\": null\n         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\"args\": {\n                    \"name\": \"gas_fireplace_gwqitr_0\",\n                    \"category\": \"gas_fireplace\",\n                    \"model\": \"gwqitr\",\n                    \"scale\": [\n                        0.9999507069587708,\n                        0.9999906420707703,\n                        1.0000510215759277\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"3d5c88bd97031c29a539844d5a45f703\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_wwoqjw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_wwoqjw_0\",\n                    \"category\": 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       1.0000016689300537,\n                        1.0000172853469849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"expected_file_hash\": \"d9ba95ab0c4b73c686916cc0ffe0e2cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"openable_window_eyvzfu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"openable_window_eyvzfu_0\",\n                    \"category\": \"openable_window\",\n                    \"model\": \"eyvzfu\",\n                    \"scale\": [\n                        0.999903678894043,\n                        0.9999958872795105,\n                        1.0000061988830566\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7e34a94e1d82b76b0ae1e4a36c66c936\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"oven_ffitak_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"oven_ffitak_0\",\n                    \"category\": \"oven\",\n                    \"model\": \"ffitak\",\n                    \"scale\": [\n                        0.9999300241470337,\n                        1.0000790357589722,\n                        1.000065803527832\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"97058ea0b9027ae350a298f453ed87e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_fqlxxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_fqlxxd_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"fqlxxd\",\n                    \"scale\": [\n                        1.0003372430801392,\n                        1.000027060508728,\n                        0.9999690651893616\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"cfbbad3016272295997c405db2b00eb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_jreujf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_jreujf_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"jreujf\",\n                    \"scale\": [\n                        0.9992155432701111,\n                        1.000004529953003,\n                        0.999982476234436\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"01e49f935ee5fd482cc86b75230303e1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pot_plant_xcybvc_0\",\n                    \"category\": \"pot_plant\",\n                    \"model\": \"xcybvc\",\n                    \"scale\": [\n                        0.9999788403511047,\n                        0.9999895691871643,\n                        0.9999873638153076\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"d1684b967f84f0c06a8a5ecac552f720\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"pot_plant_xcybvc_1\": {\n         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    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_11\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_2\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                  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      \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_5\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_6\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_amyper_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": 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1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"2ef4d031bca20bf6ae09fe3f6894b01e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_pfusrd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_pfusrd_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_pfusrd_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"pfusrd\",\n                    \"scale\": [\n                        1.0000033378601074,\n                        0.9999434351921082,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"28dcd837ac5a0ec19878db4824c9b919\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"showerhead_vuswbv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_vuswbv_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"vuswbv\",\n                    \"scale\": [\n                        1.0000189542770386,\n                        1.000184416770935,\n                        0.9999966621398926\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": 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\"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0000165700912476,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_1\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0632356405258179,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_10\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.001861810684204,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_11\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_11\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.088773250579834,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_12\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.2041987180709839,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_2\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.828336775302887,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_3\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9631685018539429,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"closet_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_4\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n    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1.0907971858978271,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_6\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.099666953086853,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_7\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.115620493888855,\n                        1.0000112056732178\n                    ],\n                 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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\",\n                        \"closet_4\"\n                    ],\n                    \"expected_file_hash\": \"56a072c7ea48f492a544508ad943c156\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_9\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9854320883750916,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": 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  \"expected_file_hash\": \"4434b1834510c5d500b67d4407632beb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_lugrhk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_lugrhk_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"lugrhk\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        0.9999846816062927,\n                        1.000067949295044\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_lugrhk_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_lugrhk_1\",\n                    \"category\": \"sofa\",\n                    \"model\": \"lugrhk\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        0.9999846816062927,\n                        1.000067949295044\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"a28ea9334a635e45bdac167b9f87686c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_wnzdke_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_wnzdke_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"wnzdke\",\n                    \"scale\": [\n                        0.9999887943267822,\n                        1.0000040531158447,\n                        0.9999432563781738\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"3c0b5e23c7f8c9c4405608fa1087efa2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"swimming_pool_vnvmkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"swimming_pool_vnvmkx_0\",\n                    \"category\": \"swimming_pool\",\n                    \"model\": \"vnvmkx\",\n                    \"scale\": [\n                        0.9999980926513672,\n                        1.0000009536743164,\n                        1.0000349283218384\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c642b5b35bb27ae4ec06b4262e041ce7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_0\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_1\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"top_cabinet_lkxmne_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"top_cabinet_lkxmne_2\",\n                    \"category\": \"top_cabinet\",\n                    \"model\": \"lkxmne\",\n                    \"scale\": [\n                        0.9998805522918701,\n                        1.000040054321289,\n                        1.0000317096710205\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7d6b6d59298c8bf878fdba462c88a664\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_0\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_1\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_2\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_3\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_light_yylrlu_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_light_yylrlu_4\",\n                    \"category\": \"wall_mounted_light\",\n                    \"model\": \"yylrlu\",\n                    \"scale\": [\n                        1.0000600814819336,\n                        0.9999998807907104,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"expected_file_hash\": \"cc076ad0dead3f3baf737670693f4934\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_ovzajm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_ovzajm_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"ovzajm\",\n                    \"scale\": [\n                        1.0003174543380737,\n                        0.9999998211860657,\n                        0.999970555305481\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"1aaa72b1c6322397419b6a7eb0a39e44\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_aescmv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_aescmv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"aescmv\",\n                    \"scale\": [\n                        0.9999967813491821,\n                        0.9998936653137207,\n                        1.0000377893447876\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f80192366bb5f121c924853d14207467\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ahpkeh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ahpkeh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ahpkeh\",\n                    \"scale\": [\n                        1.0000147819519043,\n                        0.9997085332870483,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f114a366da290418bf0ecab0a37cd8fc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_akntsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_akntsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"akntsr\",\n                    \"scale\": [\n                        0.9997666478157043,\n                        1.0000017881393433,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"72531b959dc77bfb73f467da9a4171a7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_anepvh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_anepvh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"anepvh\",\n                    \"scale\": [\n                        0.9999486804008484,\n                        1.000133752822876,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee59fa3bfcca87a21c61537722e091bb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_axkjhh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_axkjhh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"axkjhh\",\n                    \"scale\": [\n                        1.0000401735305786,\n                        0.9999582171440125,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"96503b6a723c2cd7019f512e6d298c90\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_babjhv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_babjhv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"babjhv\",\n                    \"scale\": [\n                        0.9998753070831299,\n                        0.9999241232872009,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e63842a6e56a31f1d617c8e3a2d9dabd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_baibaz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_baibaz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"baibaz\",\n                    \"scale\": [\n                        1.0000454187393188,\n                        1.0000240802764893,\n                        0.9999918937683105\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9b1227cafcd491fd9ee8ab8e97756b9f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_bpbucg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bpbucg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bpbucg\",\n                    \"scale\": [\n                        0.9998854398727417,\n                        0.9999871253967285,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dd90d7e91fb21465c4f556b05d1603e0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_bqocyc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_bqocyc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"bqocyc\",\n                    \"scale\": [\n                        0.9998852014541626,\n                        1.0000405311584473,\n                        0.9999513030052185\n                    ],\n   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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_chtiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"chtiea\",\n                    \"scale\": [\n                        1.0002912282943726,\n                        0.9999908804893494,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"492683cd3f6f28686e2889614dac76c8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cjxcfc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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1.0000011920928955,\n                        1.000003457069397,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4a47d00d9c99bd87994be1de5ace9339\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cnqnew_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cnqnew_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cnqnew\",\n                    \"scale\": [\n                        1.0000557899475098,\n                        1.0002148151397705,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n      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        \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duatwe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"duatwe\",\n                    \"scale\": [\n                        1.0000064373016357,\n                        0.9996722340583801,\n                        1.0001468658447266\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b24ad38a73bf6c989f58d3442afcd72\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_duepvi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_duepvi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"duepvi\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9998845458030701,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fd44579bc2412659790ede22ae3f5a26\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_esuxme_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_esuxme_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"esuxme\",\n                    \"scale\": [\n                        1.0001020431518555,\n                        1.0000150203704834,\n                        1.0000441074371338\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"36c02cbeae814d6f06fdab82fde9362e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_evgaml_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_evgaml_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"evgaml\",\n                    \"scale\": [\n                        1.0001057386398315,\n                        0.9999967813491821,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n         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\"walls_ffeqfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ffeqfb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ffeqfb\",\n                    \"scale\": [\n                        1.000000238418579,\n                        1.0001003742218018,\n                        1.0000234842300415\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8468573a0c0efdd0d6b0d4f299c979e8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fglkmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n     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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"86cfd0171907e7be2bd389df5d50e3b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fuiqpw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fuiqpw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fuiqpw\",\n                    \"scale\": [\n                        0.9999467730522156,\n                        1.000038743019104,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d0896aba5322ad78088de26aad682484\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fvckzc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fvckzc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fvckzc\",\n                    \"scale\": [\n                        0.9998689293861389,\n                        0.9999626278877258,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"366122c87b60e8d73329bea949462b50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxeanq_0\": {\n                \"class_module\": 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         \"category\": \"walls\",\n                    \"model\": \"fxofyj\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999547004699707,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"27fb159fdd8fa8fafb7ad9209368df48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fyjrnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fyjrnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fyjrnv\",\n                    \"scale\": [\n                        0.999866783618927,\n                        0.9999337792396545,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"24b4f8a4121e24e37580bd5855520f13\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ggtriw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ggtriw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ggtriw\",\n                    \"scale\": [\n                        1.0001455545425415,\n                        0.9999977946281433,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa80baaadf7bf7f3e9d807082fb42367\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gjrlnv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gjrlnv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gjrlnv\",\n                    \"scale\": [\n                        0.9999542236328125,\n                        1.000038743019104,\n                        1.0000239610671997\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"7508a533e6735b38373cfe46dc91f4ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmbnp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmbnp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmbnp\",\n                    \"scale\": [\n                        0.9999883770942688,\n                        1.0000717639923096,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"03aafa408e5b97e10d988877b2b0b7cb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmwvy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmwvy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmwvy\",\n                    \"scale\": [\n                        1.0000468492507935,\n                        0.9999639987945557,\n                        0.9999344944953918\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee732d7a95f1c83ee57a9044b9e2e2b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkwemu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkwemu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkwemu\",\n                    \"scale\": [\n                        0.9997715950012207,\n                        0.9999929666519165,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6ed5f5c783d36924c6b68e191fc27244\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gmwqcf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gmwqcf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gmwqcf\",\n                    \"scale\": [\n                        0.9999575018882751,\n                        1.0000061988830566,\n                        1.0005370378494263\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a78266944e7d32b9d062607b28143a2c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gpfsgj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gpfsgj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gpfsgj\",\n                    \"scale\": [\n                        0.999993085861206,\n                        1.0000206232070923,\n                        0.9999555349349976\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"38c25e2fdaa879d94e1e0f71317b27c5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_grbaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_grbaxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"grbaxo\",\n                    \"scale\": [\n                        0.9998166561126709,\n                        0.9999743700027466,\n                        0.9999679923057556\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cc8f8282ca7986d8b59d49dea7fecaa3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gupuvk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gupuvk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gupuvk\",\n                    \"scale\": [\n                        0.9999587535858154,\n                        1.000302791595459,\n                        1.0000627040863037\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b2136b725f567e6307ea8436ff20e4bf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_guxxwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_guxxwh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"guxxwh\",\n                    \"scale\": [\n                        0.9998859167098999,\n                        1.0000396966934204,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0899d28676cc8b7f9a6ea2a11ce9f67c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hajmoj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hajmoj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hajmoj\",\n                    \"scale\": [\n                        1.000004768371582,\n                        0.9999983310699463,\n                        0.9999830722808838\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"bb538a88805a4cd63976d4b918aff4e6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hbacbx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hbacbx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hbacbx\",\n                    \"scale\": [\n                        1.0000141859054565,\n                        1.000041127204895,\n                      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 }\n            },\n            \"walls_izcwsg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_izcwsg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"izcwsg\",\n                    \"scale\": [\n                        0.9998259544372559,\n                        1.0001044273376465,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e972cc4715d7958a302887137f758c0a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jbwydo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jbwydo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jbwydo\",\n                    \"scale\": [\n                        0.9999164342880249,\n                        1.0001364946365356,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce775fa8e46eaf353af5d78cabe6b4f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jshqhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jshqhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jshqhr\",\n              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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_knhryu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"knhryu\",\n                    \"scale\": [\n                        0.9999251961708069,\n                        0.9999673366546631,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"673b6a8f97f4fe9c3f785581afc4d5c6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ktvxpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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\"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b8043d382af6ad5ed8dfd4c02178b48\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ltqrqp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ltqrqp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ltqrqp\",\n                    \"scale\": [\n                        1.0001306533813477,\n                        0.9999893307685852,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f2e5ea72a37ddb2f569474e8d1beb0e9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lveewk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lveewk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lveewk\",\n                    \"scale\": [\n                        0.9999539852142334,\n                        0.9998413920402527,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8eabb4f1a54f560b979ca631ebf8baff\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lxqjnd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lxqjnd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lxqjnd\",\n                    \"scale\": [\n                        1.0001026391983032,\n                        0.9999812841415405,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"06a955dbe7d2c2c51bd289ede3f42f37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lzkdkf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lzkdkf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lzkdkf\",\n                    \"scale\": [\n                        1.0000964403152466,\n                        0.9999716877937317,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b18cacf16971dd784c2f5675be580928\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgwnwy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgwnwy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgwnwy\",\n                    \"scale\": [\n                        0.9999656677246094,\n                        1.0001095533370972,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3051fe46dfab985bd2583932cf66add5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mianco_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mianco_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mianco\",\n                    \"scale\": [\n                        1.0000030994415283,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n          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\"walls_nfmhed_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nfmhed_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nfmhed\",\n                    \"scale\": [\n                        0.9999906420707703,\n                        1.0001713037490845,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2d2ff9742ad450d478dde5d95b69bb80\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nhvigl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_nhvigl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"nhvigl\",\n                    \"scale\": [\n                        1.0002909898757935,\n                        0.9999896883964539,\n                        1.0000035762786865\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8f4aa6726788b96bf03ea511469ca953\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_noclci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_noclci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"noclci\",\n                    \"scale\": [\n           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true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0003a9502ffc9a44fdf051531590c768\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oehfxy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oehfxy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oehfxy\",\n                    \"scale\": [\n                        1.000117301940918,\n                        1.0000636577606201,\n                        0.9999576807022095\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6229160fc14651a9f11e8a46e9a1388d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olxjsy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olxjsy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olxjsy\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        0.9997128248214722,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d6f821741d95f3a6c9304f92f5fc5d08\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olywna_0\": {\n                \"class_module\": 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0.9998258948326111,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c2f5579862555918caa5c4d26cd049c4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ooixcz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ooixcz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ooixcz\",\n                    \"scale\": [\n                        1.0000063180923462,\n                        1.0000216960906982,\n                        0.9999969005584717\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n     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1.000019907951355,\n                        1.0001133680343628,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"501b59527a184496cea65db8523fe842\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qzwuwo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qzwuwo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qzwuwo\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999549388885498,\n                        1.000033974647522\n                    ],\n                    \"fixed_base\": true,\n       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\"bddl_object_scope\": null\n                }\n            },\n            \"walls_rfpiin_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rfpiin_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rfpiin\",\n                    \"scale\": [\n                        0.9998872876167297,\n                        0.9998480081558228,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"78aae178e47827a17d8eeef44f2faa89\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rogorx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rogorx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rogorx\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9997554421424866,\n                        1.0000357627868652\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9e59638361151cb381a141cf7c7b76b9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_sgqckc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_sgqckc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"sgqckc\",\n                    \"scale\": [\n                        1.00001859664917,\n                        1.0001447200775146,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a6717a115efe1c9b8a587418dc4703bc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_skoxkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_skoxkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"skoxkp\",\n                    \"scale\": [\n                        0.9999924898147583,\n                        1.0000261068344116,\n                        0.9999475479125977\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a241c675555338c7b67f5857a486889b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_snssjy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_snssjy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"snssjy\",\n                    \"scale\": [\n                        0.9999773502349854,\n                        1.0001850128173828,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n          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            }\n            },\n            \"walls_soubdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_soubdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"soubdp\",\n                    \"scale\": [\n                        0.9998795390129089,\n                        1.000030517578125,\n                        1.0000603199005127\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a79565fbeb3096b3bcffc3f465833a04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tcizfi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"expected_file_hash\": \"acd76a72e12f34dfd8b2188395783a6b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tvjrao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tvjrao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tvjrao\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9997362494468689,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1d113b2f1166f2a11c8e7e280e1b5834\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tyjlww_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tyjlww_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tyjlww\",\n                    \"scale\": [\n                        0.999956488609314,\n                        1.0001850128173828,\n                        0.9999752640724182\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"676de304599f95421be37abedf02dfb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubgakb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubgakb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubgakb\",\n                    \"scale\": [\n                        0.9999848008155823,\n                        1.0,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"41212fd074369e0a4025775c24c833c8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubscrh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubscrh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubscrh\",\n                    \"scale\": [\n                        1.0000135898590088,\n                        0.9998775124549866,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9221770c576094379840d89799d5ce7d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udgvuj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udgvuj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udgvuj\",\n                    \"scale\": [\n                        0.9998785257339478,\n                        0.9998557567596436,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4e277ddc9f07bd76b0a5471754c17869\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udqkcs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udqkcs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udqkcs\",\n                    \"scale\": [\n                        0.9999690055847168,\n                        0.9999529719352722,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"35806e68ee15064a3769cfc729ac3a3e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uplnmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uplnmr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uplnmr\",\n                    \"scale\": [\n                        1.0001013278961182,\n                        0.9999964237213135,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0b17866659cd01fd4a0e20d05d9d7ea0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_urngpl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_urngpl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"urngpl\",\n                    \"scale\": [\n                        0.9999960660934448,\n                        1.0001499652862549,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0f87c3e4ef2d0e85b110f1f2ad4924f5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uubhfj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uubhfj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uubhfj\",\n                    \"scale\": [\n                        0.9999725222587585,\n                        0.9998858571052551,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9f5816607a08ec5363d35183a9ae7129\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uuxqzk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uuxqzk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uuxqzk\",\n                    \"scale\": [\n                        0.9997155070304871,\n                        0.999993085861206,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bf1058fd19b5ed6ebc777a3191de8381\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uvgxro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uvgxro_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uvgxro\",\n                    \"scale\": [\n                        1.0002046823501587,\n                        1.000001311302185,\n                        0.9999594688415527\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n           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\"walls_uxgkxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxgkxd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxgkxd\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        0.9999704957008362,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"67ffee9d78208ca1676b2abac170551d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uzxqqb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n     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0.9999871253967285,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6003670dcf8a013b4f1d24e7d6d67bdf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n     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\"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_2\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_3\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_4\": {\n                \"class_module\": 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\"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"189e9ceba0d40d6250794a5053a6b5f8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wrodjv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wrodjv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wrodjv\",\n                    \"scale\": [\n                        1.0002094507217407,\n                     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               \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e08806c70330f7bb93dc18542747f490\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wveiea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wveiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wveiea\",\n                    \"scale\": [\n                        1.0000367164611816,\n                        1.0000665187835693,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0759dbef4385cd6f4e763d518339a069\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xbotyv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xbotyv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xbotyv\",\n                    \"scale\": [\n                        0.999990701675415,\n                        0.9999972581863403,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a7af5e29aceeadd78a7f60fc479890d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xjxddw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xjxddw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xjxddw\",\n                    \"scale\": [\n                        1.000271201133728,\n                        1.0000120401382446,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cdfc62bc4869fa9b1af3c27bdbdf216f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xnutie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xnutie_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xnutie\",\n                    \"scale\": [\n                        0.9999076724052429,\n                        0.9999979138374329,\n                        0.9999707937240601\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c183a812a1eb3b661d23e1983c76511f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ybcyqk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ybcyqk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ybcyqk\",\n                    \"scale\": [\n                        1.0002689361572266,\n                        1.0000149011611938,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bd4ae787ba10b4535634dc240df8bf37\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zfhsih_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zfhsih_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zfhsih\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999537467956543,\n                        1.0000230073928833\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b1feb2f954c85beb8b16599c1345b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zpjckn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zpjckn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zpjckn\",\n                    \"scale\": [\n                        0.9999418258666992,\n                        1.00014328956604,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bc98b25d967db14c19a246e9520bbb4f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zqexop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zqexop_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zqexop\",\n                    \"scale\": [\n                        0.9999964833259583,\n                        0.999962329864502,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"44d8b22376fb10122b86bfb5aaa108f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zufhrv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zufhrv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zufhrv\",\n                    \"scale\": [\n                        1.0000169277191162,\n                        1.0000722408294678,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8e266a33536dadd2b83d79f0f6b0f4ea\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxlndv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxlndv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxlndv\",\n                    \"scale\": [\n                        0.9999450445175171,\n                        1.0000429153442383,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9448a0bb2b54ef1707e73c3a9a4e7142\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxyurx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxyurx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxyurx\",\n                    \"scale\": [\n                        0.9999738335609436,\n                        1.0000016689300537,\n                        1.0000286102294922\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80cb1fe69d53685ae693fff5407c79d5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"plate_207\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"plate_207\",\n                    \"category\": \"plate\",\n                    \"model\": \"zpddxu\",\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\": \"0b105c3bf7d2c04ef6a277ebe5954015\"\n                }\n            },\n            \"frying_pan_208\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"frying_pan_208\",\n                    \"category\": \"frying_pan\",\n                    \"model\": \"cprjvq\",\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\": \"88226e91b38af9451053a0e2e76c5c73\"\n                }\n            },\n            \"carving_knife_209\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"carving_knife_209\",\n                    \"category\": \"carving_knife\",\n                    \"model\": \"awvoox\",\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\": \"bf0405d9859e4de9545a3b3d94ba14ea\"\n                }\n            },\n            \"cutting_board_210\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"cutting_board_210\",\n                    \"category\": \"cutting_board\",\n                    \"model\": \"tcdrzs\",\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\": \"5277cc1caf0c169cf40a045a0a2d80e7\"\n                }\n            },\n            \"chili_211\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"chili_211\",\n                    \"category\": \"chili\",\n                    \"model\": \"xhbpqh\",\n                    \"scale\": [\n                        6.0,\n                        6.0,\n                        6.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"6cddfaddf025aa9c9813d9eed6b2542a\"\n                }\n            },\n            \"head_cabbage_212\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"head_cabbage_212\",\n                    \"category\": \"head_cabbage\",\n                    \"model\": \"tqohvs\",\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\": \"54528c9c6bfc96df6bfb01b1c9f7408e\"\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": 13097,
-    "num_samples": 13097,
-    "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",
-        "head_cabbage.n.02_1_real",
-        "head_cabbage.n.02_1_pos",
-        "head_cabbage.n.02_1_ori_cos",
-        "head_cabbage.n.02_1_ori_sin",
-        "head_cabbage.n.02_1_in_gripper_left",
-        "head_cabbage.n.02_1_in_gripper_right",
-        "electric_refrigerator.n.01_1_real",
-        "electric_refrigerator.n.01_1_pos",
-        "electric_refrigerator.n.01_1_ori_cos",
-        "electric_refrigerator.n.01_1_ori_sin",
-        "electric_refrigerator.n.01_1_in_gripper_left",
-        "electric_refrigerator.n.01_1_in_gripper_right",
-        "chili.n.02_1_real",
-        "chili.n.02_1_pos",
-        "chili.n.02_1_ori_cos",
-        "chili.n.02_1_ori_sin",
-        "chili.n.02_1_in_gripper_left",
-        "chili.n.02_1_in_gripper_right",
-        "chopping_board.n.01_1_real",
-        "chopping_board.n.01_1_pos",
-        "chopping_board.n.01_1_ori_cos",
-        "chopping_board.n.01_1_ori_sin",
-        "chopping_board.n.01_1_in_gripper_left",
-        "chopping_board.n.01_1_in_gripper_right",
-        "carving_knife.n.01_1_real",
-        "carving_knife.n.01_1_pos",
-        "carving_knife.n.01_1_ori_cos",
-        "carving_knife.n.01_1_ori_sin",
-        "carving_knife.n.01_1_in_gripper_left",
-        "carving_knife.n.01_1_in_gripper_right",
-        "frying_pan.n.01_1_real",
-        "frying_pan.n.01_1_pos",
-        "frying_pan.n.01_1_ori_cos",
-        "frying_pan.n.01_1_ori_sin",
-        "frying_pan.n.01_1_in_gripper_left",
-        "frying_pan.n.01_1_in_gripper_right",
-        "plate.n.04_1_real",
-        "plate.n.04_1_pos",
-        "plate.n.04_1_ori_cos",
-        "plate.n.04_1_ori_sin",
-        "plate.n.04_1_in_gripper_left",
-        "plate.n.04_1_in_gripper_right",
-        "stove.n.01_1_real",
-        "stove.n.01_1_pos",
-        "stove.n.01_1_ori_cos",
-        "stove.n.01_1_ori_sin",
-        "stove.n.01_1_in_gripper_left",
-        "stove.n.01_1_in_gripper_right",
-        "countertop.n.01_1_real",
-        "countertop.n.01_1_pos",
-        "countertop.n.01_1_ori_cos",
-        "countertop.n.01_1_ori_sin",
-        "countertop.n.01_1_in_gripper_left",
-        "countertop.n.01_1_in_gripper_right",
-        "floor.n.01_1_real",
-        "floor.n.01_1_pos",
-        "floor.n.01_1_ori_cos",
-        "floor.n.01_1_ori_sin",
-        "floor.n.01_1_in_gripper_left",
-        "floor.n.01_1_in_gripper_right"
-    ],
-    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/armchair_qhcrgb_4/base_link/visuals\", \"3\": \"/World/scene_0/bush_ebuvur_0/base_link/visuals\", \"4\": \"/World/scene_0/tree_flkzbo_7/base_link/visuals\", \"5\": \"/World/scene_0/tree_rrhqpw_5/base_link/visuals\", \"6\": \"/World/scene_0/walls_wveiea_0/base_link/visuals\", \"7\": \"/World/scene_0/tree_rrhqpw_12/base_link/visuals\", \"8\": \"/World/scene_0/floor_lamp_jbjckk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"9\": \"/World/scene_0/walls_wjlqlb_0/base_link/visuals\", \"10\": \"/World/scene_0/armchair_jzthdw_0/base_link/visuals\", \"11\": \"/World/scene_0/tree_flkzbo_2/base_link/visuals\", \"12\": \"/World/scene_0/wall_nail_wlnail_4/base_link/visuals\", \"13\": \"/World/scene_0/chili_211/base_link/visuals\", \"14\": \"/World/scene_0/walls_oyhdlq_0/base_link/visuals\", \"15\": \"/World/scene_0/head_cabbage_212/base_link/visuals\", \"16\": \"/World/scene_0/cutting_board_210/base_link/visuals\", \"17\": \"/World/scene_0/carving_knife_209/base_link/visuals\", \"18\": \"/World/scene_0/frying_pan_208/base_link/visuals\", \"19\": \"/World/scene_0/plate_207/base_link/visuals\", \"20\": \"/World/scene_0/walls_zxyurx_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_zxlndv_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_zufhrv_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_zqexop_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_zpjckn_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_zfhsih_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_ybcyqk_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_xnutie_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_xjxddw_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_xbotyv_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_wtpbpe_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_wrodjv_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_wjlqlb_6/base_link/visuals\", \"33\": \"/World/scene_0/walls_wjlqlb_5/base_link/visuals\", \"34\": \"/World/scene_0/walls_wjlqlb_4/base_link/visuals\", \"35\": \"/World/scene_0/walls_wjlqlb_3/base_link/visuals\", \"36\": \"/World/scene_0/walls_wjlqlb_2/base_link/visuals\", \"37\": \"/World/scene_0/walls_wjlqlb_1/base_link/visuals\", \"38\": \"/World/scene_0/walls_wbjwyy_0/base_link/visuals\", \"39\": \"/World/scene_0/walls_vpuhwn_0/base_link/visuals\", \"40\": \"/World/scene_0/walls_vmsoas_0/base_link/visuals\", \"41\": \"/World/scene_0/walls_vfibix_0/base_link/visuals\", \"42\": \"/World/scene_0/walls_vdywfg_0/base_link/visuals\", \"43\": \"/World/scene_0/walls_vcgulk_0/base_link/visuals\", \"44\": \"/World/scene_0/walls_vcftmx_0/base_link/visuals\", \"45\": \"/World/scene_0/walls_uzxqqb_0/base_link/visuals\", \"46\": \"/World/scene_0/walls_uxgkxd_0/base_link/visuals\", \"47\": \"/World/scene_0/walls_uxcfbp_0/base_link/visuals\", \"48\": 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\"/World/scene_0/walls_somuet_0/base_link/visuals\", \"65\": \"/World/scene_0/walls_snssjy_0/base_link/visuals\", \"66\": \"/World/scene_0/walls_skoxkp_0/base_link/visuals\", \"67\": \"/World/scene_0/walls_sgqckc_0/base_link/visuals\", \"68\": \"/World/scene_0/walls_rogorx_0/base_link/visuals\", \"69\": \"/World/scene_0/walls_rfpiin_0/base_link/visuals\", \"70\": \"/World/scene_0/walls_rdcvhx_0/base_link/visuals\", \"71\": \"/World/scene_0/walls_qzwuwo_0/base_link/visuals\", \"72\": \"/World/scene_0/walls_qsvtbs_0/base_link/visuals\", \"73\": \"/World/scene_0/walls_qpxhxd_0/base_link/visuals\", \"74\": \"/World/scene_0/walls_qpkfgi_0/base_link/visuals\", \"75\": \"/World/scene_0/walls_qlnqyd_0/base_link/visuals\", \"76\": \"/World/scene_0/walls_pwjyds_0/base_link/visuals\", \"77\": \"/World/scene_0/walls_pozods_0/base_link/visuals\", \"78\": \"/World/scene_0/walls_pofjys_0/base_link/visuals\", \"79\": \"/World/scene_0/walls_pdahqy_0/base_link/visuals\", \"80\": 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\"/World/scene_0/tree_rrhqpw_1/base_link/visuals\", \"108\": \"/World/scene_0/tree_rrhqpw_13/base_link/visuals\", \"109\": \"/World/scene_0/tree_rrhqpw_7/base_link/visuals\", \"110\": \"/World/scene_0/hall_tree_gypwkr_0/base_link/visuals\", \"111\": \"/World/scene_0/wardrobe_uzdupi_0/base_link/visuals\", \"112\": \"/World/scene_0/armchair_qhcrgb_5/base_link/visuals\", \"113\": \"/World/scene_0/coffee_table_rlsebe_0/base_link/visuals\", \"114\": \"/World/scene_0/ottoman_lsaxch_0/base_link/visuals\", \"115\": \"/World/scene_0/ottoman_lsaxch_3/base_link/visuals\", \"116\": \"/World/scene_0/pot_plant_lligdl_2/base_link/visuals\", \"117\": \"/World/scene_0/straight_chair_jgoolz_2/base_link/visuals\", \"118\": \"/World/scene_0/taboret_ivtoxu_0/base_link/visuals\", \"119\": \"/World/scene_0/bar_udatjt_0/base_link/visuals\", \"120\": \"/World/scene_0/boulder_vxbkjq_0/base_link/visuals\", \"121\": \"/World/scene_0/ceilings_kxjvpr_0/base_link/visuals\", \"122\": \"/World/scene_0/ceilings_shvqqe_0/base_link/visuals\", \"123\": \"/World/scene_0/door_crtrpa_0/glass/visuals\", \"124\": \"/World/scene_0/door_crtrpa_0/leaf/visuals\", \"125\": \"/World/scene_0/door_crtrpa_0/base_link/visuals\", \"126\": \"/World/scene_0/door_kwbnhy_3/glass/visuals\", \"127\": \"/World/scene_0/door_kwbnhy_3/leaf/visuals\", \"128\": \"/World/scene_0/door_kwbnhy_3/base_link/visuals\", \"129\": \"/World/scene_0/downlight_fisfbn_11/base_link/visuals\", \"130\": \"/World/scene_0/downlight_fisfbn_20/base_link/visuals\", \"131\": \"/World/scene_0/downlight_fisfbn_26/base_link/visuals\", \"132\": \"/World/scene_0/downlight_zojpvs_0/base_link/visuals\", \"133\": \"/World/scene_0/downlight_zojpvs_4/base_link/visuals\", \"134\": \"/World/scene_0/electric_switch_gashan_11/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"135\": \"/World/scene_0/electric_switch_gashan_11/base_link/visuals\", \"136\": \"/World/scene_0/electric_switch_gashan_7/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"137\": \"/World/scene_0/electric_switch_gashan_7/base_link/visuals\", \"138\": \"/World/scene_0/fixed_window_hohdkt_0/glass/visuals\", \"139\": \"/World/scene_0/fixed_window_hohdkt_0/base_link/visuals\", \"140\": \"/World/scene_0/fixed_window_nruots_0/glass/visuals\", \"141\": \"/World/scene_0/fixed_window_nruots_0/base_link/visuals\", \"142\": \"/World/scene_0/fixed_window_tojcni_0/glass/visuals\", \"143\": \"/World/scene_0/fixed_window_tojcni_0/base_link/visuals\", \"144\": \"/World/scene_0/fixed_window_xkxvpp_0/glass/visuals\", \"145\": \"/World/scene_0/fixed_window_xkxvpp_0/base_link/visuals\", \"146\": \"/World/scene_0/floors_khjmrr_0/base_link/visuals\", \"147\": \"/World/scene_0/floors_yfyxxu_0/base_link/visuals\", \"148\": \"/World/scene_0/openable_window_eyvzfu_0/movingglass/visuals\", \"149\": \"/World/scene_0/openable_window_eyvzfu_0/movingpart/visuals\", \"150\": 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