diff --git "a/meta/sim/episode_00000096.json" "b/meta/sim/episode_00000096.json"
new file mode 100644--- /dev/null
+++ "b/meta/sim/episode_00000096.json"
@@ -0,0 +1,1131 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 30.0, \"rendering_frequency\": 30.0, \"physics_frequency\": 120.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_lower_task_make_pizza_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"bowl.n.01_1\": \"bowl_76\", \"cabinet.n.01_1\": \"top_cabinet_tynnnw_0\", \"carving_knife.n.01_1\": \"carving_knife_77\", \"chopping_board.n.01_1\": \"chopping_board_78\", \"cookie_sheet.n.01_1\": \"baking_sheet_79\", \"countertop.n.01_1\": \"bar_egwapq_0\", \"electric_refrigerator.n.01_1\": \"fridge_petcxr_0\", \"floor.n.01_1\": \"floors_zqjkvm_0\", \"grated_cheese.n.01_1\": \"grated_cheese\", \"mushroom.n.05_1\": \"mushroom_82\", \"mushroom.n.05_2\": \"mushroom_81\", \"oven.n.01_1\": \"oven_ffitak_0\", \"pepperoni.n.01_1\": \"pepperoni_86\", \"pepperoni.n.01_2\": \"pepperoni_85\", \"pepperoni.n.01_3\": \"pepperoni_84\", \"pepperoni.n.01_4\": \"pepperoni_83\", \"pizza_dough.n.01_1\": \"pizza_dough_87\", \"tupperware.n.01_1\": \"tupperware_75\", \"tupperware.n.01_2\": \"tupperware_74\", \"tupperware.n.01_3\": \"tupperware_73\", \"vidalia_onion.n.01_1\": \"vidalia_onion_80\"}}}, \"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_make_pizza_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, 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{\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_6\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_7\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bush_kyghri_7\", \"category\": \"bush\", \"model\": \"kyghri\", \"scale\": [0.5210912227630615, 0.5210831165313721, 0.5210502743721008], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"garden_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\"}}, \"bush_kyghri_8\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": 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         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                            17.39133071899414,\n                            12.775354385375977,\n                            0.45733821392059326\n                        ],\n                        \"ori\": [\n                            -0.0009973794221878052,\n                            -0.0005967859178781509,\n                            0.9486131072044373,\n                            -0.3164365887641907\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                            11.16177749633789,\n                            0.4360048472881317\n                        ],\n                        \"ori\": [\n                            0.0013556149788200855,\n                            -0.0005716405576094985,\n                            0.010666058398783207,\n                            0.9999421238899231\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"standing_mirror_wwkuuf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.9783838391304016,\n                            2.2687370777130127,\n                            0.7087320685386658\n                        ],\n                        \"ori\": [\n                            0.03866440802812576,\n                            -0.058721624314785004,\n                            0.12912678718566895,\n                            0.9891324639320374\n                        ],\n                        \"lin_vel\": [\n                            -2.3472390239476226e-05,\n                            -0.0004215114167891443,\n                            1.187593170470791e-05\n                        ],\n                        \"ang_vel\": [\n                            0.00030068738851696253,\n                            -2.661507824086584e-05,\n                            0.00026148639153689146\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_hgunnf_0\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.887535095214844,\n                            1.7928295135498047,\n                            0.47285720705986023\n                        ],\n                        \"ori\": [\n                            0.002246648073196411,\n                            -0.00020712008699774742,\n                            0.999997615814209,\n                            5.296431481838226e-06\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_0\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.494452476501465,\n                            1.0171157121658325,\n                            0.47334372997283936\n                        ],\n                        \"ori\": [\n                            2.9802322387695312e-08,\n                            1.5366822481155396e-07,\n                            0.2588212192058563,\n                            0.9659252762794495\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_uofiqj_1\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.685427188873291,\n                            1.7886793613433838,\n                            0.4733438789844513\n                        ],\n                        \"ori\": [\n                            -1.4901161193847656e-08,\n                            1.1676456779241562e-07,\n                            2.116430550813675e-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\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.889130592346191,\n                            1.1078989505767822,\n                            0.47330063581466675\n                        ],\n                        \"ori\": [\n                            0.0031206607818603516,\n                            -0.003784110303968191,\n                            0.9999880790710449,\n                            2.3670494556427002e-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                            0.21441012620925903\n                        ],\n                        \"ori\": [\n                            -9.960494935512543e-07,\n                            7.50794924897491e-07,\n                            1.0,\n                            -1.9470462575554848e-07\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        1.3109339169758982e-09,\n                        1.2916538949525602e-09\n                    ],\n                    \"joint_vel\": [\n                        -1.903417941860288e-27,\n                        3.969077531868119e-26\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"ceilings_alydei_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.9036145210266113,\n                            1.5060296058654785,\n                            2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_aoekre_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.520022869110107,\n                            5.557386875152588,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_feolie_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.2406875193119049,\n                            3.329909324645996,\n                            2.546888589859009\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_isizwh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.255151748657227,\n                            5.478974342346191,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kbxtoc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.136273384094238,\n                            1.377645492553711,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_sbkyof_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            3.718851089477539,\n                            5.511994361877441,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_vkfllw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.954075336456299,\n                            -0.1620907038450241,\n                            2.513519525527954\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_hgonwj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.910258173942566,\n                            7.54713249206543,\n                            1.4864343404769897\n                        ],\n                        \"ori\": [\n                            -0.5,\n                            0.5,\n                            0.5000000596046448,\n                            -0.4999999403953552\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_rypeha_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.3227729797363281,\n                            0.21013908088207245,\n                            1.535016655921936\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"decorative_sign_xzsmxq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.3330631256103516,\n                            3.47764253616333,\n                            1.7149006128311157\n                        ],\n                        \"ori\": [\n                            7.130104222596856e-07,\n                            0.0020132323261350393,\n                            -2.5964516225940315e-06,\n                            0.9999979734420776\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.886465072631836,\n                            2.3801634311676025,\n                            1.1881227493286133\n                        ],\n                        \"ori\": [\n                            -6.517961992358323e-07,\n                            -3.084868876612745e-05,\n                            -0.7104472517967224,\n                            0.7037505507469177\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        2.252886368882581e-19\n                    ],\n                    \"joint_vel\": [\n                        5.16726328335953e-18\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.0018343925476074,\n                            0.7760968208312988,\n                            1.1881228685379028\n                        ],\n                        \"ori\": [\n                            3.083584306295961e-05,\n                            -6.06067430908297e-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                        5.10693435465139e-23\n                    ],\n                    \"joint_vel\": [\n                        1.1754878700264246e-21\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11536934971809387,\n                            7.761946678161621,\n                            1.1729766130447388\n                        ],\n                        \"ori\": [\n                            -2.009639865718782e-05,\n                            -0.0004578215884976089,\n                            -0.703424334526062,\n                            0.7107700705528259\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                        1.6181414252969262e-07\n                    ],\n                    \"joint_vel\": [\n                        8.663948155511173e-19\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            0.11318013817071915,\n                            -1.1897296905517578,\n                            1.1729761362075806\n                        ],\n                        \"ori\": [\n                            0.00045754475286230445,\n                            -1.9999250071123242e-05,\n                            0.7107513546943665,\n                            0.7034432888031006\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                        1.6170309891094803e-07\n                    ],\n                    \"joint_vel\": [\n                        6.15575689380532e-12\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_2\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.709315776824951,\n                            3.4284284114837646,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.00045780508662573993,\n                            -2.0101346308365464e-05,\n                            0.7107698917388916,\n                            0.7034246325492859\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        7.1797883194335554e-09\n                    ],\n                    \"joint_vel\": [\n                        5.5942121594820815e-14\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.699669361114502,\n                            7.66694450378418,\n                            1.1734071969985962\n                        ],\n                        \"ori\": [\n                            0.00045779396896250546,\n                            -2.0094012143090367e-05,\n                            0.7107701301574707,\n                            0.7034242153167725\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                        1.6180366912976751e-07\n                    ],\n                    \"joint_vel\": [\n                        -4.9641043500196075e-14\n                    ],\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516913175582886,\n                            6.911736011505127,\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_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.651690661907196,\n                            2.764907121658325,\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                            2.7691164016723633,\n                            7.305006980895996,\n                            2.3400919437408447\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                            1.9526612758636475,\n                            7.304922580718994,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            8.183096156244574e-08,\n                            3.076413435110226e-08,\n                            0.35190078616142273,\n                            0.9360373020172119\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_12\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.5523821115493774,\n                            6.563606262207031,\n                            2.3400933742523193\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                            1.5522260665893555,\n                            5.746277332305908,\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                            1.5523115396499634,\n                            4.929818630218506,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            3.610970367162736e-08,\n                            7.961676828927011e-08,\n                            0.910709798336029,\n                            0.41304683685302734\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_15\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119500637054443,\n                            3.7024526596069336,\n                            2.3400919437408447\n                        ],\n                        \"ori\": [\n                            8.609458035380158e-08,\n                            -1.5180788182078686e-08,\n                            -0.17364796996116638,\n                            0.9848077893257141\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_16\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119528293609619,\n                            4.519846439361572,\n                            2.3400933742523193\n                        ],\n                        \"ori\": [\n                            7.894188058799045e-08,\n                            -3.7562163157645045e-08,\n                            -0.4296610951423645,\n                            0.9029902219772339\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_17\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.119430065155029,\n                            5.336261749267578,\n                            2.340092658996582\n                        ],\n                        \"ori\": [\n                            7.961677539469747e-08,\n                            -3.610968946077264e-08,\n                            -0.4130469262599945,\n                            0.9107097387313843\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_pawfmw_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516911387443542,\n                            5.894435405731201,\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_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -0.6516910791397095,\n                            4.9155120849609375,\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                            -0.9079091548919678,\n                            0.37542954087257385,\n                            2.165252923965454\n                        ],\n                        \"ori\": [\n                            1.4272956150307436e-08,\n                            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\"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                   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0.999955415725708\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ec121342bf420f1a13524bde771dda15\"\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                                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                             \"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                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ce18e38beba075d38367f101c1a6b82\"\n                            }\n                        },\n                        \"ceilings_alydei_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_aoekre_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"aoekre\",\n                                \"scale\": [\n                                    0.9999804496765137,\n                                    1.0000091791152954,\n                                    0.9999062418937683\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\",\n                                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                             \"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\": 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                    \"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                        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\"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                 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],\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      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\"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                   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    \"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\": \"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_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"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\": 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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"93d84847ab01a9461440afd56a841139\"\n                            }\n                        },\n                        \"downlight_pxrmnt_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"93d84847ab01a9461440afd56a841139\"\n                            }\n                        },\n                        \"downlight_pxrmnt_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pxrmnt\",\n                                \"scale\": [\n                                    1.0003904104232788,\n                                    0.999914824962616,\n                                    1.0003902912139893\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"93d84847ab01a9461440afd56a841139\"\n                            }\n                        },\n                        \"driveway_umalys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"driveway_umalys_0\",\n                                \"category\": \"driveway\",\n                                \"model\": \"umalys\",\n                                \"scale\": [\n           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\"category\": \"drop_in_sink\",\n                                \"model\": \"hecjnt\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000587701797485,\n                                    0.9999573230743408\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e7fc89deecf1a1e3a2e9803531f2f7ec\"\n                            }\n                        },\n                        \"drop_in_sink_lkklqs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ddbf55a2d90dc4af5027f92c55b42f7d\"\n                            }\n                        },\n                        \"floors_nbxnpk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nbxnpk_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nbxnpk\",\n                                \"scale\": [\n                                    0.9999986290931702,\n                                    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                \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_slmyas_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"slmyas\",\n                                \"scale\": [\n                                    0.9999943375587463,\n                                    0.9999828934669495,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"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                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"59ccade0e971ccb4d674f4d3e4eef6f0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_zqjkvm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zqjkvm_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zqjkvm\",\n                                \"scale\": [\n                                    1.0000038146972656,\n                                    1.0000016689300537,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"5ef2eea344a85c5dbda9b196082a08b9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"garage_door_prdjyt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garage_door_prdjyt_0\",\n                                \"category\": \"garage_door\",\n                                \"model\": \"prdjyt\",\n       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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_1\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_2\": {\n          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                             ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_5\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_6\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_7\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_8\",\n                                \"category\": \"garden_light\",\n                                \"model\": 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                      \"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                                \"expected_file_hash\": \"6064be1b8b994382d0eeb49ca9e72acb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hall_tree_upkvgr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hall_tree_upkvgr_0\",\n                                \"category\": \"hall_tree\",\n                                \"model\": \"upkvgr\",\n                                \"scale\": [\n                                    1.0000102519989014,\n                                    0.9999994039535522,\n                                    0.9999828338623047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"cfa4111f63bfadaf9af899c2134f5f0a\",\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\": \"97c95f19b6091cbc571ef52ee3fee49d\"\n                            }\n                        },\n                        \"lawn_aztwla_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_aztwla_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"aztwla\",\n                                \"scale\": [\n                                    0.9999991059303284,\n                                    1.0000005960464478,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"31bf51a93ae123f92b43269a0ab631a1\"\n                            }\n                        },\n                        \"lawn_srfikq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_srfikq_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"srfikq\",\n                                \"scale\": [\n                                    0.9999915957450867,\n                                    1.0000064373016357,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n         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\"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                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"1990336656301cdc2627aae5f7318022\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_nujxel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_nujxel_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"nujxel\",\n                                \"scale\": [\n                                    1.0000932216644287,\n                                    1.0000927448272705,\n                                    0.9969304800033569\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"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\": \"fcae1747905d4fed1bdf50e4e2bc6479\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dlfarz_0\": {\n                            \"class_module\": 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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_epketb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"epketb\",\n                                \"scale\": [\n                                    0.9999929666519165,\n                                    0.9999200701713562,\n                                    0.9999359250068665\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d8e9b89b73cd854af80a55322a431a0d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fwsbwf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fwsbwf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fwsbwf\",\n                                \"scale\": [\n                                    1.0001320838928223,\n                                    0.9999893307685852,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9f3aa2c8d583922ab877f18a3e5a8df9\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gishpf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gishpf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jemunw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jemunw\",\n                                \"scale\": [\n                                    0.9999935030937195,\n                                    0.9997928738594055,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3122bb8332fa6ea366a14e86d3e219ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jglkyp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jglkyp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jglkyp\",\n                                \"scale\": [\n                                    0.9999024271965027,\n                                    1.0000457763671875,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"042e510fad798211dad67f4921944b91\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jnbgxj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jnbgxj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jnbgxj\",\n                                \"scale\": [\n                                    0.9999818205833435,\n                                    1.000158429145813,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6cdd3a9f66cf52b3a80bf7f97e725e32\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jzwmhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jzwmhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jzwmhx\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999966025352478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lblwvg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lblwvg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lblwvg\",\n                                \"scale\": [\n                                    0.999974250793457,\n                                    0.9998873472213745,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a95c81ecd20891f1bafe760b47c06420\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgumxz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgumxz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgumxz\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.999988853931427,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_miltge_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_miltge_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"miltge\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    0.9999647736549377,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mkgplc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mkgplc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mkgplc\",\n                                \"scale\": [\n                                    1.0000089406967163,\n                                    1.0001459121704102,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oiagxk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oiagxk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oiagxk\",\n                                \"scale\": [\n                                    0.9999501705169678,\n                                    1.0000206232070923,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_owxeej_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_owxeej_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"owxeej\",\n                                \"scale\": [\n                                    0.9999358654022217,\n                                    1.000019907951355,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paarsl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paarsl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paarsl\",\n                                \"scale\": [\n                                    0.999906599521637,\n                                    1.0000128746032715,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pmygxs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pmygxs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pmygxs\",\n                                \"scale\": [\n                                    0.999999463558197,\n                                    0.9998095035552979,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qeofms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qeofms_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qeofms\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    0.999953031539917,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rrabdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rrabdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rrabdp\",\n                                \"scale\": [\n                                    0.9999839663505554,\n                                    1.000156283378601,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                                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\"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.3109339169758982e-09,\n                                    1.2916538949525602e-09\n                                ],\n                                \"joint_vel\": [\n                                    -2.4287838972979267e-27,\n                                    5.0645948635957815e-26\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    }\n                                }\n                            },\n                            \"car_ssxsje_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -4.43150520324707,\n                                        6.887782573699951,\n                                        0.6677820682525635\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -3.117962702262056e-12\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                                    \"Temperature\": {\n                                        \"temperature\": 23.0\n                                    },\n                                    \"AttachedTo\": {\n                                        \"attached_obj_uuid\": -1\n                                    }\n                                }\n                            },\n                            \"ceilings_alydei_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                              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2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_feolie_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -0.2406875193119049,\n                                        3.329909324645996,\n                                        2.546888589859009\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_isizwh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -5.255151748657227,\n                                        5.478974342346191,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_kbxtoc_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        5.136273384094238,\n                                        1.377645492553711,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_sbkyof_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        3.718851089477539,\n                                        5.511994361877441,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_vkfllw_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -2.954075336456299,\n                                        -0.1620907038450241,\n                                        2.513519525527954\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_hgonwj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.910258173942566,\n                                        7.54713249206543,\n                                        1.4864343404769897\n                                    ],\n                                    \"ori\": [\n                                        -0.5,\n                                        0.5,\n                                        0.5000000596046448,\n                                        -0.4999999403953552\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_rypeha_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.3227729797363281,\n                                        0.21013908088207245,\n                                        1.535016655921936\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"decorative_sign_xzsmxq_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -1.3330634832382202,\n                                        3.47764253616333,\n                                        1.7149009704589844\n                                    ],\n                                    \"ori\": [\n                                        7.130104222596856e-07,\n                                        0.0020132323261350393,\n                                        -2.5964516225940315e-06,\n                                        0.9999979734420776\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"door_bexenl_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -3.886465072631836,\n                                        2.3801634311676025,\n                                        1.1881227493286133\n                                    ],\n                                    \"ori\": [\n                                        -6.518089321616571e-07,\n                                        -3.0848710594000295e-05,\n                                        -0.7104471325874329,\n                                        0.7037506103515625\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n            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\"joint_pos\": [\n                                    -7.653628204375257e-19\n                                ],\n                                \"joint_vel\": [\n                                    -1.7799429585232435e-17\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                                        -2.0100032998016104e-05,\n                                        -0.00045781396329402924,\n                                        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                                   ],\n                                    \"ori\": [\n                                        0.00045779754873365164,\n                                        -2.010496064031031e-05,\n                                        0.7107698321342468,\n                                        0.7034245133399963\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    7.1797883194335554e-09\n                    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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                                        -0.9079068899154663,\n                                        -0.6004335880279541,\n                                        2.1652536392211914\n                                    ],\n                                    \"ori\": [\n                                        1.4272957038485856e-08,\n                                        8.62497770981463e-08,\n                           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\"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"c0add8dd9dccc3f4ccd9ea80bf2e59b3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_cwsigt_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_cwsigt_9\",\n                    \"category\": \"bush\",\n                    \"model\": \"cwsigt\",\n                    \"scale\": [\n                        0.3559747040271759,\n                        0.3559921085834503,\n                        0.3559795320034027\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": 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\"bc0ed32a17da0958b11fe0f3c51b9f6d\",\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                    \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\",\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                    \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\",\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                    \"expected_file_hash\": \"bc0ed32a17da0958b11fe0f3c51b9f6d\",\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                    \"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                        \"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                        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_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                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"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                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                    \"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                    \"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_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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\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                    \"expected_file_hash\": \"a82a770d6190d760516639e5b0aece2f\",\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                    \"expected_file_hash\": \"a82a770d6190d760516639e5b0aece2f\",\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                    \"expected_file_hash\": \"a82a770d6190d760516639e5b0aece2f\",\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                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\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                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\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                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\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                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\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                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\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                    \"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                        0.5133029222488403,\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_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_3\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n    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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_5\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_6\",\n            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\"bddl_object_scope\": null\n                }\n            },\n            \"microwave_hjjxmi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"microwave_hjjxmi_0\",\n                    \"category\": \"microwave\",\n                    \"model\": \"hjjxmi\",\n                    \"scale\": [\n                        0.9998999238014221,\n                        1.00001859664917,\n                        0.9998341202735901\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"d4f14541ccd2e3716e66022ef7a71ae6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"oven_ffitak_0\": {\n               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\"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                   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\"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                    \"expected_file_hash\": \"749113048d1c2fd5b0a941d239ed92cf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_gmzozb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"gmzozb\",\n                    \"scale\": [\n                        0.48671355843544006,\n                        0.48672476410865784,\n                        0.486715167760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"749113048d1c2fd5b0a941d239ed92cf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_gmzozb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_gmzozb_3\",\n                    \"category\": \"tree\",\n                  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\"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                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                       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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_0\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_1\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_2\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": 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\"args\": {\n                    \"name\": \"tree_wtyipq_7\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_8\",\n                    \"category\": \"tree\",\n                    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\"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                    \"expected_file_hash\": \"361863b2b7c149379ec4d07cebc720b4\",\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                        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                 \"model\": \"aoekre\",\n                    \"scale\": [\n                        0.9999804496765137,\n                        1.0000091791152954,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_feolie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_feolie_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"feolie\",\n                    \"scale\": [\n                        0.9999893307685852,\n                        0.9999977946281433,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_isizwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_isizwh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"isizwh\",\n                    \"scale\": [\n                        0.9999997019767761,\n                        0.9999985098838806,\n                        0.9999061226844788\n                  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\"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                    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},\n            \"floors_sdejoi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_sdejoi_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"sdejoi\",\n                    \"scale\": [\n                        0.9999986290931702,\n                        0.9999680519104004,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"e7b21ac38ea27b6d696c6c21d14aa7d8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_slmyas_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                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0.9999986886978149,\n                        0.9999807476997375,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"8589d189d7be55d1cb950d968ca670c9\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_xorxro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_xorxro_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"xorxro\",\n                    \"scale\": [\n                        0.9999860525131226,\n                        0.9999966025352478,\n                        1.0\n                    ],\n               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\"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_1\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_2\": {\n                \"class_module\": 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\"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                    \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_4\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_5\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_6\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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\"bddl_object_scope\": null\n                }\n            },\n            \"garden_light_qyfrwj_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_light_qyfrwj_8\",\n                    \"category\": \"garden_light\",\n                    \"model\": \"qyfrwj\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"hall_tree_daxzaw_0\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"hall_tree_upkvgr_0\",\n                    \"category\": \"hall_tree\",\n                    \"model\": \"upkvgr\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        0.9999994039535522,\n                        0.9999828338623047\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"cfa4111f63bfadaf9af899c2134f5f0a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_aztwla_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_aztwla_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"aztwla\",\n                    \"scale\": [\n                        0.9999991059303284,\n                        1.0000005960464478,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"31bf51a93ae123f92b43269a0ab631a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_srfikq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_srfikq_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"srfikq\",\n                    \"scale\": [\n                        0.9999915957450867,\n                        1.0000064373016357,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"ef7d79805cc8810df19f294f7d722f98\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_tiqndr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_tiqndr_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"tiqndr\",\n                    \"scale\": [\n                        0.9999890923500061,\n                        1.0000040531158447,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"1fec0ea95f2fe7c925acbaf47f22fca1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"lawn_zjtrpt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"lawn_zjtrpt_0\",\n                    \"category\": \"lawn\",\n                    \"model\": \"zjtrpt\",\n                    \"scale\": [\n                        0.9999980330467224,\n                        0.9999983310699463,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"92513f35773c03f56fd000ab6c55801b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"paver_eskaca_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"paver_eskaca_0\",\n                    \"category\": \"paver\",\n                    \"model\": \"eskaca\",\n                    \"scale\": [\n                        0.9999935626983643,\n                        0.9999943375587463,\n                        1.000009298324585\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"6acdbe05fbc9d97ad1afadd58b7b8f7a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"paver_lmdfdn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"paver_lmdfdn_0\",\n                    \"category\": \"paver\",\n                    \"model\": \"lmdfdn\",\n                    \"scale\": [\n                        0.999997615814209,\n                        1.0000035762786865,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"f26fe536d4ef1fe7bec4a8681475b5b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"paver_sekqqq_0\": {\n                \"class_module\": 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                   \"name\": \"picture_ekagyj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ekagyj\",\n                    \"scale\": [\n                        1.000014066696167,\n                        1.0000383853912354,\n                        1.000417947769165\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"931f520415eaa97c3a351f55a9e3f1db\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ggajdz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ggajdz_0\",\n                    \"category\": \"picture\",\n               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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_light_eqbjaz_0\",\n                    \"category\": \"room_light\",\n                    \"model\": \"eqbjaz\",\n                    \"scale\": [\n                        0.9999228715896606,\n                        0.9999228715896606,\n                        1.0000250339508057\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_light_kiuayi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"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                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                  \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cvdpaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cvdpaq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cvdpaq\",\n                    \"scale\": [\n                        0.9999979734420776,\n                        0.9999068975448608,\n                        1.000015377998352\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cxsmhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cxsmhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cxsmhr\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9997971057891846,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1b5be077939eeb28fb416785efe26f03\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dewyls_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dewyls_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dewyls\",\n                    \"scale\": [\n                        1.0000096559524536,\n                        0.9997960329055786,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fcae1747905d4fed1bdf50e4e2bc6479\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_dlfarz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_dlfarz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"dlfarz\",\n                    \"scale\": [\n            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              \"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\": 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       \"scale\": [\n                        0.9997971057891846,\n                        0.999988853931427,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n    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\"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\": 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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          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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          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\"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           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             \"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            \"tupperware_73\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tupperware_73\",\n                    \"category\": \"tupperware\",\n                    \"model\": \"mkstwr\",\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\": \"5fa388f8f1342198f13770ebb1e1ea3f\"\n                }\n            },\n            \"tupperware_74\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tupperware_74\",\n                    \"category\": \"tupperware\",\n                    \"model\": \"mkstwr\",\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\": \"5fa388f8f1342198f13770ebb1e1ea3f\"\n                }\n            },\n            \"tupperware_75\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tupperware_75\",\n                    \"category\": \"tupperware\",\n                    \"model\": \"mkstwr\",\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\": \"5fa388f8f1342198f13770ebb1e1ea3f\"\n                }\n            },\n            \"bowl_76\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bowl_76\",\n                    \"category\": \"bowl\",\n                    \"model\": \"szgdpc\",\n                    \"scale\": [\n                        1.5,\n                        1.5,\n                        1.5\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"6a5381661305dd4e2ae4f0d44e34ad77\"\n                }\n            },\n            \"carving_knife_77\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"carving_knife_77\",\n                    \"category\": \"carving_knife\",\n                    \"model\": \"fqqbop\",\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\": \"7225be9502824cafa20070b0bf491e5b\"\n                }\n            },\n            \"chopping_board_78\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"chopping_board_78\",\n                    \"category\": \"chopping_board\",\n                    \"model\": \"sygezm\",\n                    \"scale\": [\n                        0.9956542253494263,\n                        0.9981469511985779,\n                        1.2499690055847168\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"48acb3e69ec8bfaa2aeaf6e762316e22\"\n                }\n            },\n            \"baking_sheet_79\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"baking_sheet_79\",\n                    \"category\": \"baking_sheet\",\n                    \"model\": \"yhurut\",\n                    \"scale\": [\n                        1.083290934562683,\n                        0.7210108041763306,\n                        1.3150798082351685\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b0e7f00a410daa66246e04c868e77322\"\n                }\n            },\n            \"vidalia_onion_80\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"vidalia_onion_80\",\n                    \"category\": \"vidalia_onion\",\n                    \"model\": \"buyxll\",\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\": \"50a8652d45da09cc80d7ca5bf38935e3\"\n                }\n            },\n            \"mushroom_81\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mushroom_81\",\n                    \"category\": \"mushroom\",\n                    \"model\": \"zlukhz\",\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\": \"816d559ab8b3d5756c85dd45a326e390\"\n                }\n            },\n            \"mushroom_82\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mushroom_82\",\n                    \"category\": \"mushroom\",\n                    \"model\": \"zlukhz\",\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\": \"816d559ab8b3d5756c85dd45a326e390\"\n                }\n            },\n            \"pepperoni_83\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pepperoni_83\",\n                    \"category\": \"pepperoni\",\n                    \"model\": \"xcurfr\",\n                    \"scale\": [\n                        0.659273087978363,\n                        0.7371305227279663,\n                        1.1768321990966797\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b00eb4f244f805d71099ded14c560369\"\n                }\n            },\n            \"pepperoni_84\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pepperoni_84\",\n                    \"category\": \"pepperoni\",\n                    \"model\": \"xcurfr\",\n                    \"scale\": [\n                        0.659273087978363,\n                        0.7371305227279663,\n                        1.1768321990966797\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b00eb4f244f805d71099ded14c560369\"\n                }\n            },\n            \"pepperoni_85\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pepperoni_85\",\n                    \"category\": \"pepperoni\",\n                    \"model\": \"xcurfr\",\n                    \"scale\": [\n                        0.659273087978363,\n                        0.7371305227279663,\n                        1.1768321990966797\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b00eb4f244f805d71099ded14c560369\"\n                }\n            },\n            \"pepperoni_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pepperoni_86\",\n                    \"category\": \"pepperoni\",\n                    \"model\": \"xcurfr\",\n                    \"scale\": [\n                        0.659273087978363,\n                        0.7371305227279663,\n                        1.1768321990966797\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"b00eb4f244f805d71099ded14c560369\"\n                }\n            },\n            \"pizza_dough_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pizza_dough_87\",\n                    \"category\": \"pizza_dough\",\n                    \"model\": \"jguwbv\",\n                    \"scale\": [\n                        0.7266388535499573,\n                        0.7256181240081787,\n                        1.0130518674850464\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"7db45295a4edbc14c2ef6f20be22f4e9\"\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": 11507,
+    "num_samples": 11507,
+    "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",
+        "pizza_dough.n.01_1_real",
+        "pizza_dough.n.01_1_pos",
+        "pizza_dough.n.01_1_ori_cos",
+        "pizza_dough.n.01_1_ori_sin",
+        "pizza_dough.n.01_1_in_gripper_left",
+        "pizza_dough.n.01_1_in_gripper_right",
+        "pepperoni.n.01_1_real",
+        "pepperoni.n.01_1_pos",
+        "pepperoni.n.01_1_ori_cos",
+        "pepperoni.n.01_1_ori_sin",
+        "pepperoni.n.01_1_in_gripper_left",
+        "pepperoni.n.01_1_in_gripper_right",
+        "pepperoni.n.01_2_real",
+        "pepperoni.n.01_2_pos",
+        "pepperoni.n.01_2_ori_cos",
+        "pepperoni.n.01_2_ori_sin",
+        "pepperoni.n.01_2_in_gripper_left",
+        "pepperoni.n.01_2_in_gripper_right",
+        "pepperoni.n.01_3_real",
+        "pepperoni.n.01_3_pos",
+        "pepperoni.n.01_3_ori_cos",
+        "pepperoni.n.01_3_ori_sin",
+        "pepperoni.n.01_3_in_gripper_left",
+        "pepperoni.n.01_3_in_gripper_right",
+        "pepperoni.n.01_4_real",
+        "pepperoni.n.01_4_pos",
+        "pepperoni.n.01_4_ori_cos",
+        "pepperoni.n.01_4_ori_sin",
+        "pepperoni.n.01_4_in_gripper_left",
+        "pepperoni.n.01_4_in_gripper_right",
+        "mushroom.n.05_1_real",
+        "mushroom.n.05_1_pos",
+        "mushroom.n.05_1_ori_cos",
+        "mushroom.n.05_1_ori_sin",
+        "mushroom.n.05_1_in_gripper_left",
+        "mushroom.n.05_1_in_gripper_right",
+        "mushroom.n.05_2_real",
+        "mushroom.n.05_2_pos",
+        "mushroom.n.05_2_ori_cos",
+        "mushroom.n.05_2_ori_sin",
+        "mushroom.n.05_2_in_gripper_left",
+        "mushroom.n.05_2_in_gripper_right",
+        "vidalia_onion.n.01_1_real",
+        "vidalia_onion.n.01_1_pos",
+        "vidalia_onion.n.01_1_ori_cos",
+        "vidalia_onion.n.01_1_ori_sin",
+        "vidalia_onion.n.01_1_in_gripper_left",
+        "vidalia_onion.n.01_1_in_gripper_right",
+        "pizza.n.01_1_real",
+        "pizza.n.01_1_pos",
+        "pizza.n.01_1_ori_cos",
+        "pizza.n.01_1_ori_sin",
+        "pizza.n.01_1_in_gripper_left",
+        "pizza.n.01_1_in_gripper_right",
+        "oven.n.01_1_real",
+        "oven.n.01_1_pos",
+        "oven.n.01_1_ori_cos",
+        "oven.n.01_1_ori_sin",
+        "oven.n.01_1_in_gripper_left",
+        "oven.n.01_1_in_gripper_right",
+        "cookie_sheet.n.01_1_real",
+        "cookie_sheet.n.01_1_pos",
+        "cookie_sheet.n.01_1_ori_cos",
+        "cookie_sheet.n.01_1_ori_sin",
+        "cookie_sheet.n.01_1_in_gripper_left",
+        "cookie_sheet.n.01_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",
+        "bowl.n.01_1_real",
+        "bowl.n.01_1_pos",
+        "bowl.n.01_1_ori_cos",
+        "bowl.n.01_1_ori_sin",
+        "bowl.n.01_1_in_gripper_left",
+        "bowl.n.01_1_in_gripper_right",
+        "tupperware.n.01_1_real",
+        "tupperware.n.01_1_pos",
+        "tupperware.n.01_1_ori_cos",
+        "tupperware.n.01_1_ori_sin",
+        "tupperware.n.01_1_in_gripper_left",
+        "tupperware.n.01_1_in_gripper_right",
+        "tupperware.n.01_2_real",
+        "tupperware.n.01_2_pos",
+        "tupperware.n.01_2_ori_cos",
+        "tupperware.n.01_2_ori_sin",
+        "tupperware.n.01_2_in_gripper_left",
+        "tupperware.n.01_2_in_gripper_right",
+        "tupperware.n.01_3_real",
+        "tupperware.n.01_3_pos",
+        "tupperware.n.01_3_ori_cos",
+        "tupperware.n.01_3_ori_sin",
+        "tupperware.n.01_3_in_gripper_left",
+        "tupperware.n.01_3_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",
+        "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",
+        "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/bush_kjakgd_0/base_link/visuals\", \"3\": \"/World/scene_0/bush_cwsigt_2/base_link/visuals\", \"4\": \"/World/scene_0/pizza_dough_87/base_link/visuals\", \"5\": \"/World/scene_0/pepperoni_86/base_link/visuals\", \"6\": \"/World/scene_0/pepperoni_85/base_link/visuals\", \"7\": \"/World/scene_0/pepperoni_84/base_link/visuals\", \"8\": \"/World/scene_0/pepperoni_83/base_link/visuals\", \"9\": \"/World/scene_0/mushroom_82/base_link/visuals\", \"10\": \"/World/scene_0/mushroom_81/base_link/visuals\", \"11\": \"/World/scene_0/vidalia_onion_80/base_link/visuals\", \"12\": \"/World/scene_0/baking_sheet_79/base_link/visuals\", \"13\": \"/World/scene_0/chopping_board_78/base_link/visuals\", \"14\": \"/World/scene_0/carving_knife_77/base_link/visuals\", \"15\": \"/World/scene_0/bowl_76/base_link/visuals\", \"16\": \"/World/scene_0/tupperware_75/base_link/visuals\", \"17\": \"/World/scene_0/tupperware_74/base_link/visuals\", \"18\": \"/World/scene_0/tupperware_73/base_link/visuals\", \"19\": \"/World/scene_0/walls_zdhaff_0/base_link/visuals\", \"20\": \"/World/scene_0/walls_ylpkth_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_xyrbgy_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_xsubff_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_weybsr_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_vxveul_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_upttgq_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_umqqmh_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_uiloru_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_rrabdp_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_qeofms_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_pmygxs_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_paarsl_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_owxeej_0/base_link/visuals\", \"33\": \"/World/scene_0/walls_oqrbxo_0/base_link/visuals\", \"34\": \"/World/scene_0/walls_oiagxk_0/base_link/visuals\", \"35\": \"/World/scene_0/walls_mwlvfb_0/base_link/visuals\", \"36\": \"/World/scene_0/walls_mkgplc_0/base_link/visuals\", \"37\": \"/World/scene_0/walls_lblwvg_0/base_link/visuals\", \"38\": \"/World/scene_0/walls_mgumxz_0/base_link/visuals\", \"39\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle25\", \"40\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle48\", \"41\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle90\", \"42\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle115\", \"43\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle0\", \"44\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle1\", \"45\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle2\", \"46\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle3\", \"47\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle4\", \"48\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle5\", \"49\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle6\", \"50\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle7\", \"51\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle8\", \"52\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle9\", \"53\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle10\", \"54\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle11\", \"55\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle12\", \"56\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle13\", \"57\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle14\", \"58\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle15\", \"59\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle16\", \"60\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle17\", \"61\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle18\", \"62\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle19\", \"63\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle20\", \"64\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle21\", \"65\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle22\", \"66\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle23\", \"67\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle24\", \"68\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle26\", \"69\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle27\", \"70\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle28\", \"71\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle29\", \"72\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle30\", \"73\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle31\", \"74\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle32\", \"75\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle33\", \"76\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle34\", \"77\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle35\", \"78\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle36\", \"79\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle37\", \"80\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle38\", \"81\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle39\", \"82\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle40\", \"83\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle41\", \"84\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle42\", \"85\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle43\", \"86\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle44\", \"87\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle45\", \"88\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle46\", \"89\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle47\", \"90\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle49\", \"91\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle50\", \"92\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle51\", \"93\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle52\", \"94\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle53\", \"95\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle54\", \"96\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle55\", \"97\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle56\", \"98\": \"/World/scene_0/grated_cheese/particles/grated_cheeseParticle57\", \"99\": 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