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0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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                   \"args\": {\n                                \"name\": \"serving_cart_vvtcby_0\",\n                                \"category\": \"serving_cart\",\n                                \"model\": \"vvtcby\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    0.9999819993972778,\n                                    1.0000241994857788\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e515c32180c748d2194131dacfafc46\"\n                            }\n                        },\n                        \"bookcase_eckdny_0\": {\n           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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n                                \"scale\": [\n                                    1.000010371208191,\n                                    0.9999898672103882,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"7373b56c122ad4a1de77e4221c320c9a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_laeuzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    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      \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n          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            \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                 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],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                      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            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        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                             ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"072188b0eec005268f16019eefad639b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_ljabhq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_ljabhq_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"ljabhq\",\n                                \"scale\": [\n                                   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                              \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"de082b8d6f65c0ee981ec473507e3620\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_aicjaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_aicjaq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"aicjaq\",\n                                \"scale\": [\n                                    1.0000500679016113,\n                                    0.9999763369560242,\n                                    1.0017871856689453\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e9787220ce6b2b15f7da14a2cef72be\"\n                            }\n                        },\n                        \"picture_aqahkx_0\": {\n                            \"class_module\": 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1.0000498294830322,\n                                    1.0017874240875244\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0e7ad3883512e4e419a7b205bd09517f\"\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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   \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": 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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                    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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n  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                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"b79cda963ca75c33eb0fa56273269280\"\n                            }\n                        },\n                        \"showerhead_afoeoa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_afoeoa_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"afoeoa\",\n                                \"scale\": [\n                                    0.999765932559967,\n                                    0.9998961687088013,\n                                    1.000025987625122\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n                                    1.0000375509262085,\n                                    1.0000358819961548,\n                                    0.9999516010284424\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"e23887408f7ae8386550346591a88a49\"\n                            }\n                        },\n                        \"towel_rack_qedffr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"towel_rack_qedffr_0\",\n                                \"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n              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],\n                                                [\n                                                    8.046627044677734e-06,\n                                                    5.811452410853235e-06\n                                                ],\n                                                [\n                                                    -1.8775461285258643e-05,\n                                                    -9.387730642629322e-06\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    },\n                                    \"arm_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            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\"category\": \"bookcase\",\n                    \"model\": \"eckdny\",\n                    \"scale\": [\n                        1.0001277923583984,\n                        0.9999730587005615,\n                        0.9999985098838806\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_dlncrt_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_dlncrt_0\",\n                    \"category\": \"door\",\n                    \"model\": \"dlncrt\",\n                    \"scale\": [\n                   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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bookcase_kmuacd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bookcase_kmuacd_0\",\n                    \"category\": \"bookcase\",\n                    \"model\": \"kmuacd\",\n                    \"scale\": [\n                        1.0000832080841064,\n                        0.9999729990959167,\n                        0.99996417760849\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n           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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_gznlyj_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"gznlyj\",\n                    \"scale\": [\n                        1.000010371208191,\n                        0.9999898672103882,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"7373b56c122ad4a1de77e4221c320c9a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_laeuzw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_laeuzw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"laeuzw\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        1.000000238418579,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"15c63ad7417ced281a97483fd8ddd57e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_mbrukp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_mbrukp_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"mbrukp\",\n                    \"scale\": [\n                        1.0000112056732178,\n                        0.9999985694885254,\n                        1.0000264644622803\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"1211f5e4d7b069b49416e4beeb21520e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_qhcqdn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_qhcqdn_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"qhcqdn\",\n                    \"scale\": [\n       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\"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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                \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n         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\"bddl_object_scope\": null\n                }\n            },\n            \"picture_aqahkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_aqahkx_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"aqahkx\",\n                    \"scale\": [\n                        1.000043511390686,\n                        0.9999478459358215,\n                        0.9999922513961792\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2c4dc484d8ee45431d1c38911c2ba36d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_bzmdxc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_bzmdxc_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"bzmdxc\",\n                    \"scale\": [\n                        0.9997698068618774,\n                        0.9997700452804565,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"669b46fb61fccd276c338359ed15badb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_hyjqxp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"nzctlq\",\n                    \"scale\": [\n                        0.9998580813407898,\n                        0.9999564290046692,\n                        0.9999911785125732\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_rypaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_rypaxo_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"rypaxo\",\n                    \"scale\": [\n                        1.0001418590545654,\n                        1.0001705884933472,\n                        0.9999890327453613\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"8e3843c0cdb45e40dba7a33ed91e2f12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_svpzro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_svpzro_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"svpzro\",\n                    \"scale\": [\n                        0.9995415210723877,\n                        1.0002294778823853,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_sodbbr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_sodbbr_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"sodbbr\",\n                    \"scale\": [\n                        1.000807523727417,\n                        1.0000016689300537,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"d98c980c798debe0cd5c8aeb439e77b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            \"robot_r1\": {\n                \"class_module\": \"omnigibson.robots.r1pro\",\n                \"class_name\": \"R1Pro\",\n                \"args\": {\n                    \"name\": \"robot_r1\",\n                    \"self_collisions\": true,\n                    \"controller_config\": {\n                        \"arm_left\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"arm_right\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4787,
+    "num_samples": 4787,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"48\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"49\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"50\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"51\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"52\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"56\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"57\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"60\": 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\ No newline at end of file
diff --git a/meta/sim/episode_00000017.json b/meta/sim/episode_00000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac7750ef4262160caca2debb14d9d7974bf52f4
--- /dev/null
+++ b/meta/sim/episode_00000017.json
@@ -0,0 +1,226 @@
+{
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\"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                             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\"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": 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                   }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                                    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                        \"stairs_tikozn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"stairs_tikozn_0\",\n                                \"category\": \"stairs\",\n                                \"model\": \"tikozn\",\n                                \"scale\": [\n                                    0.9999832510948181,\n                                    0.9999979138374329,\n                                    1.0000052452087402\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"\n                            }\n                        },\n                        \"serving_cart_vvtcby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"serving_cart_vvtcby_0\",\n                                \"category\": \"serving_cart\",\n                                \"model\": \"vvtcby\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    0.9999819993972778,\n                                    1.0000241994857788\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e515c32180c748d2194131dacfafc46\"\n                            }\n                        },\n                        \"bookcase_eckdny_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_eckdny_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"eckdny\",\n                                \"scale\": [\n                                    1.0001277923583984,\n                                    0.9999730587005615,\n                                    0.9999985098838806\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_dlncrt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_dlncrt_0\",\n                                \"category\": \"door\",\n                                \"model\": \"dlncrt\",\n                                \"scale\": [\n                                    1.0001740455627441,\n                                    1.0000379085540771,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                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                         \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f2d8f633505ed9052077f77d5cc0fbd2\"\n                            }\n                        },\n                        \"armchair_axcwcm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_axcwcm_0\",\n                                \"category\": \"armchair\",\n                                \"model\": \"axcwcm\",\n                                \"scale\": [\n                                    0.9999984502792358,\n                                    0.9999963045120239,\n                                    0.9999688863754272\n                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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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      \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                   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                          \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                 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            \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                    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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n  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                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"b79cda963ca75c33eb0fa56273269280\"\n                            }\n                        },\n                        \"showerhead_afoeoa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_afoeoa_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"afoeoa\",\n                                \"scale\": [\n                                    0.999765932559967,\n                                    0.9998961687088013,\n                                    1.000025987625122\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n              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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": 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}\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                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],\n                                                [\n                                                    8.046627044677734e-06,\n                                                    5.811452410853235e-06\n                                                ],\n                                                [\n                                                    -1.8775461285258643e-05,\n                                                    -9.387730642629322e-06\n                                                ]\n                                            ],\n                                            \"current_idx\": 0,\n                                            \"fully_filled\": true\n                                        }\n                                    },\n                                    \"arm_right\": {\n                                        \"goal_is_valid\": true,\n                                        \"goal\": {\n                                            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                    \"past_samples\": [\n                                                [\n                                                    9.387730642629322e-06,\n                                                    -3.1292436233343324e-06\n                                                ],\n                                                [\n                                                    -8.76940248417668e-07,\n                                                    9.077979484573007e-05\n                                                ],\n                                                [\n                                                    8.037835641516722e-07,\n                                                    9.688684258435387e-06\n                                                ],\n                                                [\n                                                    4.917382739222376e-06,\n                                                    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\"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"bddl_object_scope\": null\n                }\n            },\n            \"picture_aqahkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_aqahkx_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"aqahkx\",\n                    \"scale\": [\n                        1.000043511390686,\n                        0.9999478459358215,\n                        0.9999922513961792\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2c4dc484d8ee45431d1c38911c2ba36d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_bzmdxc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_bzmdxc_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"bzmdxc\",\n                    \"scale\": [\n                        0.9997698068618774,\n                        0.9997700452804565,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"669b46fb61fccd276c338359ed15badb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_hyjqxp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"nzctlq\",\n                    \"scale\": [\n                        0.9998580813407898,\n                        0.9999564290046692,\n                        0.9999911785125732\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_rypaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_rypaxo_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"rypaxo\",\n                    \"scale\": [\n                        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\"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_0\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_2\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": \"room_divider\",\n                    \"model\": \"bydmct\",\n                    \"scale\": [\n                        1.000349521636963,\n                        1.0000001192092896,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_sodbbr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_sodbbr_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"sodbbr\",\n                    \"scale\": [\n                        1.000807523727417,\n                        1.0000016689300537,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"d98c980c798debe0cd5c8aeb439e77b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            \"robot_r1\": {\n                \"class_module\": \"omnigibson.robots.r1pro\",\n                \"class_name\": \"R1Pro\",\n                \"args\": {\n                    \"name\": \"robot_r1\",\n                    \"self_collisions\": true,\n                    \"controller_config\": {\n                        \"arm_left\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"arm_right\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4577,
+    "num_samples": 4577,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000020.json b/meta/sim/episode_00000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff28c02ba0d40f6b7cebaafe6fedb3255cda3ec
--- /dev/null
+++ b/meta/sim/episode_00000020.json
@@ -0,0 +1,226 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": 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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                                    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                        \"stairs_tikozn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"stairs_tikozn_0\",\n                                \"category\": \"stairs\",\n                                \"model\": \"tikozn\",\n                                \"scale\": [\n                                    0.9999832510948181,\n                                    0.9999979138374329,\n                                    1.0000052452087402\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3a312e0397d4aaf7758006345e2b4ac0\"\n                            }\n                        },\n                        \"serving_cart_vvtcby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"serving_cart_vvtcby_0\",\n                                \"category\": \"serving_cart\",\n                                \"model\": \"vvtcby\",\n                                \"scale\": [\n                                    1.0001310110092163,\n                                    0.9999819993972778,\n                                    1.0000241994857788\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7e515c32180c748d2194131dacfafc46\"\n                            }\n                        },\n                        \"bookcase_eckdny_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_eckdny_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"eckdny\",\n                                \"scale\": [\n                                    1.0001277923583984,\n                                    0.9999730587005615,\n                                    0.9999985098838806\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\",\n                                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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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      \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                   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            \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                    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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n  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                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                   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                           \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    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}\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"model\": \"etjpqr\",\n                    \"scale\": [\n                        0.9994935393333435,\n                        1.0000231266021729,\n                        0.9999651908874512\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_dcxicr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_dcxicr_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"dcxicr\",\n                    \"scale\": [\n                        1.0000115633010864,\n                 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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                \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n         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\"bddl_object_scope\": null\n                }\n            },\n            \"picture_aqahkx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_aqahkx_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"aqahkx\",\n                    \"scale\": [\n                        1.000043511390686,\n                        0.9999478459358215,\n                        0.9999922513961792\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2c4dc484d8ee45431d1c38911c2ba36d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_bzmdxc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_bzmdxc_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"bzmdxc\",\n                    \"scale\": [\n                        0.9997698068618774,\n                        0.9997700452804565,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"669b46fb61fccd276c338359ed15badb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_hyjqxp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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1.0001418590545654,\n                        1.0001705884933472,\n                        0.9999890327453613\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"8e3843c0cdb45e40dba7a33ed91e2f12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_svpzro_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_svpzro_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"svpzro\",\n                    \"scale\": [\n                        0.9995415210723877,\n                        1.0002294778823853,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_0\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_2\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"railing_pqzbbb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": \"room_divider\",\n                    \"model\": \"bydmct\",\n                    \"scale\": [\n                        1.000349521636963,\n                        1.0000001192092896,\n                        1.0000749826431274\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_sapyzl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_sapyzl_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"sapyzl\",\n                    \"scale\": [\n                        1.0002144575119019,\n                        0.9999921917915344,\n                        1.0006431341171265\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_mounted_tv_sodbbr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_mounted_tv_sodbbr_0\",\n                    \"category\": \"wall_mounted_tv\",\n                    \"model\": \"sodbbr\",\n                    \"scale\": [\n                        1.000807523727417,\n                        1.0000016689300537,\n                        0.9999944567680359\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"d98c980c798debe0cd5c8aeb439e77b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_0\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_boflea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ldoefg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ldoefg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ldoefg\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        1.0000122785568237,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            \"robot_r1\": {\n                \"class_module\": \"omnigibson.robots.r1pro\",\n                \"class_name\": \"R1Pro\",\n                \"args\": {\n                    \"name\": \"robot_r1\",\n                    \"self_collisions\": true,\n                    \"controller_config\": {\n                        \"arm_left\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"arm_right\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6057,
+    "num_samples": 6057,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"45\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"46\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"49\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"50\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"51\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"52\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"53\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"54\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"56\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"57\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"60\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"69\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"70\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"71\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"72\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"73\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"74\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"75\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"76\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"77\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"78\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"79\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"80\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"82\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"83\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"84\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"85\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"86\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"87\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"88\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"89\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"90\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"94\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"95\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"96\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"97\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"98\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"99\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"100\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"101\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"102\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"103\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"104\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"105\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"106\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"107\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"108\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"109\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"110\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"111\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"112\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"113\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"114\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"115\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"116\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"117\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"118\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"119\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"120\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"121\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"122\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"123\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"124\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"125\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"126\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"127\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"128\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"129\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"130\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"131\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"132\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"133\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"134\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"135\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"136\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"137\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"138\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"139\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"140\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"141\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"142\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"143\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"144\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"145\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"146\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"147\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"148\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"149\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"150\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"151\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"152\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"153\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"154\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"155\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"156\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"157\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"158\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"159\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"160\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"161\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"162\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"163\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"164\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"165\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"166\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"167\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"168\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"169\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"170\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"171\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"172\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"173\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"174\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"175\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"176\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"181\": \"/World/scene_0/trumpet_87/base_link/dustParticle20\", \"182\": \"/World/scene_0/trumpet_87/base_link/dustParticle21\", \"183\": \"/World/scene_0/trumpet_87/base_link/dustParticle22\", \"184\": \"/World/scene_0/trumpet_87/base_link/dustParticle23\", \"185\": \"/World/scene_0/trumpet_87/base_link/dustParticle24\", \"186\": \"/World/scene_0/trumpet_87/base_link/dustParticle25\", \"187\": \"/World/scene_0/trumpet_87/base_link/dustParticle26\", \"188\": \"/World/scene_0/trumpet_87/base_link/dustParticle27\", \"189\": \"/World/scene_0/trumpet_87/base_link/dustParticle28\", \"190\": \"/World/scene_0/trumpet_87/base_link/dustParticle29\", \"191\": \"/World/scene_0/trumpet_87/base_link/dustParticle30\", \"192\": \"/World/scene_0/trumpet_87/base_link/dustParticle31\", \"193\": \"/World/scene_0/trumpet_87/base_link/dustParticle32\", \"194\": \"/World/scene_0/trumpet_87/base_link/dustParticle33\", \"195\": \"/World/scene_0/trumpet_87/base_link/dustParticle34\", \"196\": \"/World/scene_0/trumpet_87/base_link/dustParticle35\", \"197\": \"/World/scene_0/trumpet_87/base_link/dustParticle36\", \"198\": \"/World/scene_0/trumpet_87/base_link/dustParticle37\", \"199\": \"/World/scene_0/trumpet_87/base_link/dustParticle38\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        128,
+        3,
+        4,
+        5,
+        134,
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+        125
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
+        128,
+        1,
+        3,
+        4,
+        133,
+        134,
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+        125,
+        127
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        130,
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+        4,
+        5,
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+        113,
+        115,
+        120
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000025.json b/meta/sim/episode_00000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe160a1cce8c82b430e5788da3e5e9f30aa3bfa
--- /dev/null
+++ b/meta/sim/episode_00000025.json
@@ -0,0 +1,250 @@
+{
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              \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                      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\"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": 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  \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": 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                  \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n              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      \"expected_file_hash\": \"91a9e76f3aa2f92c27f44c6ea0ba0feb\"\n                            }\n                        },\n                        \"coffee_table_osroux_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_osroux_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"osroux\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000073909759521,\n                                    0.9999943971633911\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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0.9999538064002991,\n                                    0.9999926686286926\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"nightstand_aykehx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_aykehx_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": 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},\n                        \"nightstand_uzxrlg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"nightstand_uzxrlg_0\",\n                                \"category\": \"nightstand\",\n                                \"model\": \"uzxrlg\",\n                                \"scale\": [\n                                    1.0000001192092896,\n                                    1.0000001192092896,\n                                    1.0000001192092896\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": 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        \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"518c1d2677fb5483cc56a3d7f6864375\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bathtub_rufepf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bathtub_rufepf_0\",\n                                \"category\": \"bathtub\",\n                                \"model\": \"rufepf\",\n                                \"scale\": [\n                                    1.0000211000442505,\n                                    0.9999750256538391,\n                                    0.9999595284461975\n                                ],\n                                \"fixed_base\": true,\n                             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1.0000157356262207\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"a04ea161a84ecd719d8664f0609559a4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bed_siuxgz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                           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                    \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_1\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                      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                            ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\"\n                            }\n                        },\n                        \"door_pxhbim_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_1\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n             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                          \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n               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           \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": \"downlight\",\n                                \"model\": 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     \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": 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                         \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": 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      \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": 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                       },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                   \"expected_file_hash\": \"072188b0eec005268f16019eefad639b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_ljabhq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_ljabhq_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"ljabhq\",\n                                \"scale\": [\n                                    1.0005065202713013,\n                                    0.9999780058860779,\n                                    1.0000290870666504\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"f60ce30aec25c7dc15ed95a6de858fe7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_abtgvz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_abtgvz_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"abtgvz\",\n                                \"scale\": [\n                                    1.0004545450210571,\n                                    1.000188946723938,\n                                    1.0\n                                ],\n    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\"model\": \"aqahkx\",\n                                \"scale\": [\n                                    1.000043511390686,\n                                    0.9999478459358215,\n                                    0.9999922513961792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2c4dc484d8ee45431d1c38911c2ba36d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_bzmdxc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_bzmdxc_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"bzmdxc\",\n                                \"scale\": [\n                                    0.9997698068618774,\n                                    0.9997700452804565,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"669b46fb61fccd276c338359ed15badb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_hyjqxp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_hyjqxp_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"hyjqxp\",\n                                \"scale\": [\n                                    0.9998784065246582,\n                                    1.000119686126709,\n                                    0.9999837279319763\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_jovfqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_jovfqj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"jovfqj\",\n                                \"scale\": [\n                                    0.9999560713768005,\n                                    1.0000486373901367,\n                                    1.001761794090271\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    1.0000498294830322,\n                                    1.0017874240875244\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0e7ad3883512e4e419a7b205bd09517f\"\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f5ec6d72ecca19eee49a14044e8f73ae\"\n                            }\n                        },\n                        \"picture_nzctlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_rypaxo_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"rypaxo\",\n                                \"scale\": [\n                                    1.0001418590545654,\n                                    1.0001705884933472,\n                                    0.9999890327453613\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"8e3843c0cdb45e40dba7a33ed91e2f12\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_svpzro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_svpzro_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                                    1.0000495910644531,\n                                    0.9983996152877808\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9b133296d8d2faa89aab2552779b30a3\"\n                            }\n                        },\n                        \"picture_yrkfct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                           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\"category\": \"shower\",\n                                \"model\": \"giialz\",\n                                \"scale\": [\n                                    1.0000324249267578,\n                                    0.9999755620956421,\n                                    1.0006901025772095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b79cda963ca75c33eb0fa56273269280\"\n                            }\n                        },\n                        \"showerhead_afoeoa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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                        }\n                        },\n                        \"wall_socket_plssag_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_0\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"boflea\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9999855160713196,\n                                    1.0000048875808716\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_eguptx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_eguptx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"eguptx\",\n                                \"scale\": [\n                                    1.000280499458313,\n                                    0.9999999403953552,\n                                   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1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                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\"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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},\n                        \"walls_zlekao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zlekao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zlekao\",\n                                \"scale\": [\n                                    0.9997971057891846,\n                                    0.9999727010726929,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n  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                    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               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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_1\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                 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                \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                  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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"folderal_ydrlth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"folderal_ydrlth_0\",\n                    \"category\": \"folderal\",\n                 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0.9999114871025085,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"map_hsbtqi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"map_hsbtqi_0\",\n                    \"category\": \"map\",\n                    \"model\": \"hsbtqi\",\n                    \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n                        1.0000113248825073\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n             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\"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n         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],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            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\"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": 6658,
+    "num_samples": 6658,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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\"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"45\": 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\ No newline at end of file
diff --git a/meta/sim/episode_00000035.json b/meta/sim/episode_00000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa3ee90e491326ebcef071bb28b5759cc826a10
--- /dev/null
+++ b/meta/sim/episode_00000035.json
@@ -0,0 +1,209 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3883ce600b8dcf1255d4bbdc6103a5b8\"}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\", \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6067,
+    "num_samples": 6067,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"3\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"48\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"49\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"51\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"52\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"53\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"54\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"55\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"56\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"57\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"58\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"59\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"60\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"61\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"62\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"63\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"64\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"65\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"66\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"67\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"68\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"69\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"70\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"71\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"72\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"73\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"74\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"75\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"76\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"80\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"81\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"82\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"83\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"84\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"85\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"86\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"87\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"88\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"89\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"90\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"91\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"92\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"93\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"94\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"95\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"96\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"97\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"98\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"99\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"100\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"101\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"102\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"103\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"104\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"105\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"106\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"107\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"108\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"109\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"110\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"111\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"112\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"114\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"115\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"116\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"117\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"118\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"119\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"120\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"121\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"122\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"123\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"124\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"125\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"126\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"127\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"128\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"129\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"130\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"131\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"132\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"133\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"135\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"136\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"137\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"138\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"139\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"140\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"141\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"142\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"143\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"144\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"145\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"146\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"147\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"148\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"149\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"150\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"151\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"152\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"153\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"154\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"155\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"156\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"157\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"158\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"159\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"160\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"161\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"162\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"163\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"164\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"165\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"166\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"167\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"168\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"169\": 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+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000037.json b/meta/sim/episode_00000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef1b23b0ee658134e8b1480b4c4796529ffa6c9
--- /dev/null
+++ b/meta/sim/episode_00000037.json
@@ -0,0 +1,206 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6580,
+    "num_samples": 6580,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"49\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"50\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"51\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"52\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"53\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"54\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"55\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"56\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"57\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"58\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"59\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"60\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"61\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"62\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"63\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"64\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"65\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"68\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"69\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"70\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"71\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"72\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"73\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"74\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"75\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"76\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"77\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"78\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"79\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"80\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"81\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"82\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"83\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"85\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"86\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"87\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"88\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"89\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"91\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"92\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"93\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"94\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"95\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"96\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"97\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"98\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"99\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"103\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"104\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"105\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"106\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"107\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"108\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"109\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"110\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"111\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"112\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"113\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"114\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"116\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"117\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"118\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"119\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"121\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"122\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"123\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"124\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"125\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"126\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"127\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"128\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"129\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"130\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"131\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"132\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"133\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"138\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"139\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"140\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"141\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"142\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"143\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"144\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"145\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"146\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"147\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"148\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"149\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"150\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"151\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"152\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"153\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"154\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"155\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"156\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"157\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"158\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"159\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"160\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"161\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"162\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"163\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"164\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"165\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"166\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"167\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"168\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"169\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"170\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"171\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"172\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"173\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        4,
+        5,
+        6,
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+        138,
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+        124
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        127
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        25,
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000041.json b/meta/sim/episode_00000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..162c91e77aec41be8ff1dcf4ff60b5db12917d43
--- /dev/null
+++ b/meta/sim/episode_00000041.json
@@ -0,0 +1,203 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6360,
+    "num_samples": 6360,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"46\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"47\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"48\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"49\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"50\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"51\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"52\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"56\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"57\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"60\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"66\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"67\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"68\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"69\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"70\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"71\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"72\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"73\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"74\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"75\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"76\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"90\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"91\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"92\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"93\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"94\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"95\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"96\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"97\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"98\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"99\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"100\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"101\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"102\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"103\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"104\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"105\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"106\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"110\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"111\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"112\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"113\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"114\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"115\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"116\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"117\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"118\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"119\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"120\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"121\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"122\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"123\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"124\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"125\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"126\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"127\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"128\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"129\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"130\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"131\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"132\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"133\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"134\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"135\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"136\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"137\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"138\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"139\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"140\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"141\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"142\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"143\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"144\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"145\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"146\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"147\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"148\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"149\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"150\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"151\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"152\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"153\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"154\": 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\"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"169\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"170\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"171\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"172\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"173\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"174\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"175\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"176\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"177\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"178\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"179\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"180\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        128,
+        2,
+        3,
+        4,
+        134,
+        136,
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+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        3,
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+        134,
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+        85,
+        88,
+        90,
+        91,
+        107,
+        109,
+        114,
+        124,
+        125
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
+        1,
+        2,
+        3,
+        4,
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+        134,
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+        170,
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+        89,
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+        114,
+        124,
+        125
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000042.json b/meta/sim/episode_00000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..a999b3572e3e041ce2b93587721124bb32e73ded
--- /dev/null
+++ b/meta/sim/episode_00000042.json
@@ -0,0 +1,211 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6902,
+    "num_samples": 6902,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"3\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"48\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"49\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"51\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"52\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"53\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"54\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"55\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"56\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"57\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"58\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"59\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"60\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"61\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"62\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"66\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"67\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"68\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"69\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"70\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"71\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"72\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"73\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"74\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"75\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"76\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"77\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"78\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"79\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"80\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"90\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"91\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"92\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"93\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"94\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"95\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"96\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"97\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"98\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"99\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"100\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"101\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"102\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"103\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"104\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"105\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"109\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"110\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"111\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"112\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"113\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"114\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"115\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"116\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"117\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"118\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"119\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"120\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"121\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"124\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"125\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"126\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"127\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"128\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"129\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"130\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"131\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"132\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"133\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"134\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"135\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"136\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"137\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"138\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"139\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"140\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"141\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"142\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000050.json b/meta/sim/episode_00000050.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f82972d5b160cfa6bb0b334af351f6f4fb712db
--- /dev/null
+++ b/meta/sim/episode_00000050.json
@@ -0,0 +1,216 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                       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\"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": 5082,
+    "num_samples": 5082,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": 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+        123,
+        128,
+        132,
+        133,
+        140,
+        141,
+        150,
+        151,
+        157,
+        159,
+        163,
+        166,
+        167,
+        168,
+        173,
+        177,
+        178,
+        181,
+        182,
+        183,
+        184,
+        185,
+        186,
+        187,
+        188,
+        189,
+        190,
+        191,
+        192,
+        193,
+        194,
+        195,
+        196,
+        197,
+        198,
+        199
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000052.json b/meta/sim/episode_00000052.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a414f3ffaca38b4fbf01129f117c7e39dfe7a0d
--- /dev/null
+++ b/meta/sim/episode_00000052.json
@@ -0,0 +1,251 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4807,
+    "num_samples": 4807,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"34\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"41\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"42\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"43\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"44\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"45\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"46\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"47\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"48\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"49\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"50\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"51\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"52\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"53\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"54\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"56\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"57\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"58\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"59\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000060.json b/meta/sim/episode_00000060.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af31179b6768b00e07707ff7e35ea93c3ba0249
--- /dev/null
+++ b/meta/sim/episode_00000060.json
@@ -0,0 +1,239 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4736,
+    "num_samples": 4736,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"48\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"49\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"51\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"52\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"53\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"54\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"55\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"56\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"57\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"58\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"60\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"66\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"67\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"68\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"69\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"70\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"71\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"72\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"73\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"74\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"75\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"76\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"77\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"78\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"79\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"80\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"81\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"82\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"83\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"84\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"85\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"86\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"87\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"88\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"89\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"90\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"91\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"92\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"93\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"94\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"95\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"96\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"97\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"98\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"99\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"100\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"101\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"105\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"106\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"107\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"108\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"109\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"110\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"111\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"112\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"113\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"114\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"116\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"117\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"121\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"122\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"123\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"124\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"125\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"126\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"127\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"128\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"129\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"130\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"131\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"132\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"133\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"137\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"138\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"139\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"140\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"141\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"142\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"143\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"144\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"145\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"146\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"147\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"148\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"149\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"150\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"151\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"152\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"153\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"154\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"155\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"156\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"157\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"158\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"159\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"160\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"161\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"162\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"163\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"164\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"165\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"166\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"167\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"168\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"169\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"170\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"171\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"172\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"173\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+        1,
+        2,
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+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        1,
+        2,
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+        120,
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+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        2,
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+        4,
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+        6,
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+        99,
+        100,
+        102,
+        103,
+        104,
+        105,
+        108,
+        149,
+        114,
+        118,
+        119,
+        120,
+        127
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000067.json b/meta/sim/episode_00000067.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6311b364623b94c5f3673707b522c70b289ebd7
--- /dev/null
+++ b/meta/sim/episode_00000067.json
@@ -0,0 +1,220 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4382,
+    "num_samples": 4382,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"45\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"46\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"47\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"48\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"49\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"50\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"51\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"52\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"53\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"54\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"56\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"57\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"65\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"66\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"67\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"68\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"69\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"70\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"71\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"72\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"73\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"74\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"75\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"76\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"77\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"79\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"80\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"86\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"87\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"88\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"89\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"91\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"92\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"93\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"94\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"95\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"96\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"97\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"98\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"99\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"100\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"101\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"102\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"103\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"104\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"105\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"106\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"109\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"110\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"111\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"112\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"113\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"114\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"115\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"116\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"117\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"118\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"119\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"120\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"122\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"123\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"124\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"125\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"126\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"127\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000069.json b/meta/sim/episode_00000069.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a84e9afd70971080238c226f20bd961b342f64
--- /dev/null
+++ b/meta/sim/episode_00000069.json
@@ -0,0 +1,216 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6436,
+    "num_samples": 6436,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"12\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"13\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"14\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"31\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"32\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"33\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"34\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"37\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"38\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"39\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"40\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"41\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"42\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"43\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"44\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"45\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"46\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"47\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"48\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"49\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"51\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"52\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"53\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"54\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"55\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"56\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"57\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"58\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"59\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"60\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"61\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"62\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"63\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"64\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"65\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"66\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"67\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"68\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"69\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"70\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"71\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"72\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"73\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"74\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"75\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"76\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"77\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"78\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"79\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"80\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"81\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"82\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"83\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"84\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"85\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"86\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"87\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"88\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"89\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"92\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"93\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"94\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"95\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"96\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"97\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"98\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"99\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"100\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"101\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"102\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"103\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"104\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"105\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"106\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"107\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"108\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"109\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"110\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"111\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"112\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"114\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"115\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"116\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"117\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"118\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"119\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"120\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"121\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"122\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"123\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"124\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"125\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"126\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"127\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"128\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"129\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"130\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"131\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"132\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"133\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"139\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"140\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"141\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"142\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"143\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"144\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"145\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"146\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"147\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"148\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"149\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"150\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"151\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"152\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"153\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"154\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"155\": 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\"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"171\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"172\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"173\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\"}",
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+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000078.json b/meta/sim/episode_00000078.json
new file mode 100644
index 0000000000000000000000000000000000000000..246ce0a47dd01b755113dd16b7d0f136e9b70fe2
--- /dev/null
+++ b/meta/sim/episode_00000078.json
@@ -0,0 +1,213 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4007,
+    "num_samples": 4007,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"19\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"20\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"21\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"22\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"23\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"40\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"41\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"42\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"43\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"51\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"52\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"53\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"56\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"62\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"63\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"64\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"66\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"67\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"68\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"69\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"70\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"71\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"72\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"73\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"74\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"75\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"76\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"77\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"78\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"79\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"80\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"81\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"82\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"83\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"84\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"85\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"86\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"87\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"88\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"89\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"90\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"91\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"92\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"93\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"94\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"96\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"97\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"98\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"99\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"100\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"101\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"102\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"103\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"104\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"105\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"106\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"107\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"110\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"111\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"112\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"114\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"115\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"116\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"117\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"118\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"119\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"120\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"121\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"122\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"123\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"124\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"125\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"126\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"127\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"128\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"129\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"130\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"131\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"132\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"133\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"134\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"135\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"136\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"137\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"141\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"142\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"143\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"144\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"145\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"146\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"147\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"148\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"149\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"150\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"151\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"152\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"153\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"154\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"155\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"156\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"157\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"158\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"159\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"160\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"161\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"162\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"163\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"164\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"165\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"166\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"167\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"168\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"169\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"170\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"171\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"172\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"173\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"174\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"175\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"176\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"177\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"178\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"179\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        128,
+        129,
+        2,
+        3,
+        4,
+        5,
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+        111,
+        124
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        129,
+        130,
+        131,
+        4,
+        2,
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+        79,
+        95,
+        96,
+        105,
+        108,
+        110,
+        111,
+        113,
+        124
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
+        128,
+        129,
+        2,
+        3,
+        4,
+        5,
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+        74,
+        75,
+        76,
+        92,
+        96,
+        108,
+        110,
+        113,
+        114,
+        115,
+        124
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000079.json b/meta/sim/episode_00000079.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f04e4f63898a739a0740df7b28fc2cd9177366
--- /dev/null
+++ b/meta/sim/episode_00000079.json
@@ -0,0 +1,225 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5351,
+    "num_samples": 5351,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"3\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"49\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"50\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"51\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"52\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"53\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"54\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"55\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"56\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"57\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"58\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"59\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"60\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"61\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"62\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"66\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"67\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"68\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"69\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"70\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"71\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"72\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"73\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"74\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"75\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"76\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"77\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"79\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"80\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"81\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"87\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"88\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"89\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"91\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"92\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"93\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"94\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"95\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"96\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"97\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"98\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"99\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"100\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"101\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"102\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"103\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"104\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"110\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"111\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"112\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"114\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"115\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"116\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"117\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"118\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"119\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"120\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"121\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"122\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"123\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"124\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"125\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"126\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"127\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"128\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"129\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"130\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"131\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"132\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"133\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"134\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"135\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"136\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"137\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"138\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"139\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"140\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"141\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"142\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"143\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"144\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"145\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"146\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"147\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"148\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"149\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"150\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"151\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"152\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"153\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"154\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"155\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"156\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"157\": 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+        124,
+        125
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000089.json b/meta/sim/episode_00000089.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3bc024815bff18ee4cb3e3a803af90e89f1f6c7
--- /dev/null
+++ b/meta/sim/episode_00000089.json
@@ -0,0 +1,225 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6474,
+    "num_samples": 6474,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"3\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"46\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"47\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"48\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"49\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"51\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"52\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"53\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"54\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"55\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"56\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"57\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"58\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"59\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"60\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"61\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"62\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"63\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"64\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"65\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"66\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"67\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"68\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"69\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"70\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"71\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"72\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"73\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"74\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"75\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"76\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"86\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"87\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"88\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"89\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"90\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"91\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"92\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"93\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"94\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"95\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"96\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"97\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"99\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"100\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"101\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"102\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"103\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"105\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"106\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"107\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"108\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"109\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"110\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"111\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"112\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"113\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"114\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"116\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"117\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"122\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"123\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"124\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"125\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"126\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"127\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"128\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"129\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"130\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"131\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"132\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"133\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"134\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"135\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"136\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"137\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"138\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"139\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"140\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"141\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"142\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"143\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"144\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"145\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"146\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"147\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"148\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"149\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"150\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"151\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"152\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"153\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"154\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"155\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"156\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"157\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"158\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"159\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"160\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"161\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"162\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"163\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"164\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"165\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"166\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"167\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"168\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"169\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"170\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"171\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"172\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"173\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        2,
+        4,
+        5,
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+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        120,
+        121
+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        1,
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+        167,
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+        174,
+        178,
+        179
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000097.json b/meta/sim/episode_00000097.json
new file mode 100644
index 0000000000000000000000000000000000000000..b596b78222c0e7e0c3d941f0de077b3a7c42b2c4
--- /dev/null
+++ b/meta/sim/episode_00000097.json
@@ -0,0 +1,230 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4288,
+    "num_samples": 4288,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"44\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"45\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"46\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"47\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"48\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"49\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"50\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"51\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"52\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"53\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"54\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"56\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"57\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"58\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"68\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"69\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"71\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"72\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"73\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"74\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"75\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"76\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"77\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"78\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"79\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"80\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"81\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"82\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"83\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"84\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"88\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"89\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"90\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"91\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"92\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"93\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"94\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"95\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"96\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"97\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"98\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"99\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"100\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"101\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"110\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"111\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"112\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"113\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"114\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"115\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"116\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"117\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"118\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"119\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"120\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"121\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"122\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"123\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"124\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"125\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"126\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000104.json b/meta/sim/episode_00000104.json
new file mode 100644
index 0000000000000000000000000000000000000000..307f0501cf77d69181bea3cc0e1b5ad794c1e5c1
--- /dev/null
+++ b/meta/sim/episode_00000104.json
@@ -0,0 +1,232 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5114,
+    "num_samples": 5114,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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diff --git a/meta/sim/episode_00000112.json b/meta/sim/episode_00000112.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f1a66f263fd8867aaaf53258ca51c7bb4c1572
--- /dev/null
+++ b/meta/sim/episode_00000112.json
@@ -0,0 +1,235 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5772,
+    "num_samples": 5772,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"20\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"21\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"22\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"23\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"40\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"41\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"42\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"43\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"50\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"51\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"52\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"54\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"55\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"56\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"57\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"58\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"59\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"60\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"61\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"62\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"63\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"64\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"69\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"70\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"71\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"72\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"73\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"74\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"75\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"76\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"77\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"78\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"79\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"80\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"81\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"82\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"83\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"84\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"85\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"86\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"87\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"88\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"89\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"90\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"91\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"92\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"96\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"97\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"98\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"99\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"100\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"101\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"102\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"103\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"104\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"105\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"110\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"111\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"112\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"113\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"114\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"115\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"116\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"117\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"118\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"119\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"120\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"121\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"122\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"123\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"124\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"125\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"126\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"127\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"128\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"129\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"130\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"131\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"132\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"133\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"134\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"135\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"136\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"137\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"138\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"139\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"140\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"141\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"142\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"143\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"144\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"145\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"146\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"147\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"148\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"149\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"150\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"151\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"152\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"153\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"154\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"155\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"156\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"157\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000118.json b/meta/sim/episode_00000118.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2a6f5d6dce3b163f1100ac513ce54c399b8ed9
--- /dev/null
+++ b/meta/sim/episode_00000118.json
@@ -0,0 +1,243 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4638,
+    "num_samples": 4638,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"48\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"49\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"51\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"52\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"53\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"54\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"55\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"56\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"57\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"58\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"60\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"61\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"69\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"71\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"72\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"73\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"74\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"75\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"76\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"77\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"78\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"79\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"80\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"81\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"82\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"83\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"84\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"85\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"89\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"90\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"91\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"92\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"93\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"94\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"95\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"96\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"97\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"98\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"99\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"100\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"101\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000119.json b/meta/sim/episode_00000119.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d1690da934474a0c5f08f10e930862f682d519
--- /dev/null
+++ b/meta/sim/episode_00000119.json
@@ -0,0 +1,255 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6470,
+    "num_samples": 6470,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"3\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"18\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"31\": 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\"59\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"60\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"66\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"67\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"68\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"69\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"70\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"71\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"72\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"73\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000121.json b/meta/sim/episode_00000121.json
new file mode 100644
index 0000000000000000000000000000000000000000..433de33e4633776c9c514b7abe0d3d481a1d959d
--- /dev/null
+++ b/meta/sim/episode_00000121.json
@@ -0,0 +1,256 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_double_floor_upper\", \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_jhymlr_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_jhymlr_0\", \"category\": \"bottom_cabinet\", \"model\": \"jhymlr\", \"scale\": [1.6128703355789185, 1.7241984605789185, 2.0688953399658203], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"}}, \"bottom_cabinet_nddvba_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_nddvba_0\", \"category\": \"bottom_cabinet\", \"model\": \"nddvba\", \"scale\": [0.919100284576416, 1.7930281162261963, 1.75520658493042], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"9f1fd18bd922a604c2790a5372af7d07\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_0\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"}}, \"downlight_fisfbn_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", 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1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": 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\"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\", \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b9a03dca22749e6d8d6b5c99991d43e0\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f2d8f633505ed9052077f77d5cc0fbd2\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"91a9e76f3aa2f92c27f44c6ea0ba0feb\"}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c9c67f147daab9c2db7564c7b56f23a4\"}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"649801e0443a618b0fc63e387c021a59\", \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": 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\"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3883ce600b8dcf1255d4bbdc6103a5b8\"}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\", \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\", \"bddl_object_scope\": null}}, \"background_gkemae_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"background_gkemae_0\", \"category\": \"background\", \"model\": \"gkemae\", \"scale\": [1.0000039339065552, 0.9999995827674866, 1.0000026226043701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"expected_file_hash\": \"518c1d2677fb5483cc56a3d7f6864375\", \"bddl_object_scope\": null}}, \"bathtub_rufepf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bathtub_rufepf_0\", \"category\": \"bathtub\", \"model\": \"rufepf\", \"scale\": [1.0000211000442505, 0.9999750256538391, 0.9999595284461975], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5506,
+    "num_samples": 5506,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"44\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"45\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000122.json b/meta/sim/episode_00000122.json
new file mode 100644
index 0000000000000000000000000000000000000000..01227d18dc2f9ee66454adbf03e53b8d22fe2adc
--- /dev/null
+++ b/meta/sim/episode_00000122.json
@@ -0,0 +1,242 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": 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\"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\", \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b9a03dca22749e6d8d6b5c99991d43e0\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": 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\"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c9c67f147daab9c2db7564c7b56f23a4\"}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"649801e0443a618b0fc63e387c021a59\", \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": 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\"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\", \"bddl_object_scope\": null}}, \"background_gkemae_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"background_gkemae_0\", \"category\": \"background\", \"model\": \"gkemae\", \"scale\": [1.0000039339065552, 0.9999995827674866, 1.0000026226043701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"expected_file_hash\": \"518c1d2677fb5483cc56a3d7f6864375\", \"bddl_object_scope\": null}}, \"bathtub_rufepf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bathtub_rufepf_0\", \"category\": \"bathtub\", \"model\": \"rufepf\", \"scale\": [1.0000211000442505, 0.9999750256538391, 0.9999595284461975], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5657,
+    "num_samples": 5657,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"44\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"45\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"46\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"49\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"50\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"51\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"52\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"54\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"55\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"56\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"57\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"58\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"59\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"60\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"61\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"62\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"63\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"64\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"69\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"70\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"71\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"72\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"73\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"74\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"75\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"76\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"77\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"78\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"79\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"80\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"86\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"87\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"88\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"89\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"91\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"92\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"93\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"94\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"95\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"96\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"97\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"99\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"104\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"105\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"106\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"107\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"108\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"109\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"110\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"111\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"112\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"113\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"114\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"115\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"116\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"117\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"118\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"119\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"124\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"125\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"126\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"127\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000127.json b/meta/sim/episode_00000127.json
new file mode 100644
index 0000000000000000000000000000000000000000..b678ba2bf39af467e9b860ae560d35d25b3537e0
--- /dev/null
+++ b/meta/sim/episode_00000127.json
@@ -0,0 +1,251 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6910,
+    "num_samples": 6910,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"41\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"42\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"43\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"44\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"45\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"46\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"47\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"48\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"49\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"50\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"51\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"52\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"53\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"54\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"55\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"56\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"57\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"69\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"70\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"71\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000140.json b/meta/sim/episode_00000140.json
new file mode 100644
index 0000000000000000000000000000000000000000..341a1e117248e36c2686609db04e9c252f977468
--- /dev/null
+++ b/meta/sim/episode_00000140.json
@@ -0,0 +1,228 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6396,
+    "num_samples": 6396,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"41\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"42\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"43\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"44\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"45\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"46\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"49\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"50\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"51\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"52\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"53\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"54\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"56\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"57\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"68\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"69\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"70\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"71\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"72\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"73\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"74\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"75\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"76\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"77\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"79\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"87\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"88\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"89\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"90\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"91\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"92\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"93\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"94\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"95\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"96\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"97\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"99\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"100\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"101\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"106\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"107\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"108\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"109\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"110\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"111\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"112\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"113\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"114\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"115\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"116\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"117\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"118\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"119\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"120\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"124\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"125\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"126\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"127\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"128\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"129\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"130\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"131\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"132\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"133\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"134\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"135\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"136\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"137\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"138\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"139\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"140\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"141\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"142\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"143\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"144\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"145\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"146\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"147\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"148\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"149\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"150\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"151\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"152\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"153\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"154\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"155\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"156\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"157\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"158\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"159\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"160\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"161\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"162\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"163\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"164\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"165\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"166\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"167\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"168\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"169\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"170\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"171\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"172\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"173\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"174\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"175\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"176\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"177\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"178\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"179\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"180\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+        3,
+        4,
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+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        121,
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+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        1,
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+        3,
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+        106,
+        150,
+        121,
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+        123,
+        152,
+        127
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000141.json b/meta/sim/episode_00000141.json
new file mode 100644
index 0000000000000000000000000000000000000000..4226c3f8863a21a524d4913ca6811f668e68eb70
--- /dev/null
+++ b/meta/sim/episode_00000141.json
@@ -0,0 +1,237 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5425,
+    "num_samples": 5425,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"43\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"44\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"45\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"46\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"47\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"48\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"49\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"50\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"51\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"52\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"53\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"54\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"56\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"57\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"62\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"63\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"64\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"65\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"66\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"67\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"68\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"69\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"70\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"71\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"72\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"73\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"74\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"75\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"76\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"77\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"84\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"85\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"86\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"87\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"88\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"89\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"90\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"91\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"92\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"93\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"94\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"95\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"96\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"97\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"99\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"102\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"103\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"104\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"105\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"106\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"107\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"108\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"109\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"110\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"111\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"112\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"113\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"114\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"116\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"117\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"120\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"121\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"122\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"123\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"124\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"125\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"126\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"127\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"128\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"129\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"130\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"131\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"132\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"133\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"134\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"136\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"137\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"138\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"139\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"140\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"141\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"142\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"143\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"144\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"145\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"146\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"147\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"148\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"149\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"150\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"151\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"152\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"153\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"154\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"155\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"156\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"157\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"158\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"159\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"160\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"161\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"162\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"163\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"164\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"165\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"166\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"167\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"168\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"169\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"170\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"171\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"172\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"173\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        128,
+        129,
+        130,
+        2,
+        4,
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+        127
+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        1,
+        130,
+        2,
+        4,
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+        120,
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+        126,
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+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        129,
+        2,
+        3,
+        4,
+        130,
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+        97,
+        98,
+        102,
+        103,
+        149,
+        114,
+        150,
+        117,
+        118,
+        119,
+        127
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000142.json b/meta/sim/episode_00000142.json
new file mode 100644
index 0000000000000000000000000000000000000000..7490c4078e8ae7f5961054558bc96a208bddd319
--- /dev/null
+++ b/meta/sim/episode_00000142.json
@@ -0,0 +1,246 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6208,
+    "num_samples": 6208,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"45\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"46\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"47\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"48\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"49\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"50\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"51\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"52\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"53\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"54\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"55\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"56\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"57\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"63\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"64\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"66\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"67\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"68\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"69\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"70\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"71\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"72\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"73\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"74\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"75\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"76\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"77\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"78\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"81\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"82\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"83\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"84\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"85\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"86\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000146.json b/meta/sim/episode_00000146.json
new file mode 100644
index 0000000000000000000000000000000000000000..838f649decf0aee9a0be3f3ed8b2cab6f0338f3f
--- /dev/null
+++ b/meta/sim/episode_00000146.json
@@ -0,0 +1,225 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4900,
+    "num_samples": 4900,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"4\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"5\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"6\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"7\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"51\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"52\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"53\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"54\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"55\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"56\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"57\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"58\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"59\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"60\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"61\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"62\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"63\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"64\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"65\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"66\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"67\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"68\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"69\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"70\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"71\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"72\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"73\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"74\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"75\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"76\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"77\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"78\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"79\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"80\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"81\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"82\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"83\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"84\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"85\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"86\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"95\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"96\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"97\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"98\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"99\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"100\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"101\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"102\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"103\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"104\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"105\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"106\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"107\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"108\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"109\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"110\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"111\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"112\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"114\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"115\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"116\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"117\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"118\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"119\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"120\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"121\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"122\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"123\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"124\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"125\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"126\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"127\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"128\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"129\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"130\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"131\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"132\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"133\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"134\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"135\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"136\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"137\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"138\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"139\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+    ],
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+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+        120,
+        25
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000151.json b/meta/sim/episode_00000151.json
new file mode 100644
index 0000000000000000000000000000000000000000..1906a17546a445164ecb3346062c102dd202f189
--- /dev/null
+++ b/meta/sim/episode_00000151.json
@@ -0,0 +1,233 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4777,
+    "num_samples": 4777,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"45\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"46\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"47\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"48\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"49\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"51\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"52\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"53\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"54\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"55\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"56\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"57\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"59\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"63\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"64\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"65\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"66\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"67\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"68\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"69\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"70\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"71\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"72\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"73\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"74\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"75\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"76\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"77\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"78\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"79\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"80\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"81\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"88\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"89\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"90\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"91\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"92\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"93\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"94\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"95\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"96\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"97\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"99\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"100\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"106\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"107\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"108\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"109\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"110\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"111\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"112\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"113\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"114\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"115\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"116\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"117\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"118\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"119\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"120\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"122\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"123\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"124\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"125\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"126\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"127\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"128\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"129\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"130\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"131\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"132\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"133\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"134\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"136\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"137\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"138\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"139\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"140\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"141\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"142\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"143\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"144\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"145\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"146\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"147\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"148\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"149\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"150\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"151\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"152\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"153\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"154\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"155\": 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\"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"170\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"171\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"172\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"173\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"174\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"175\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"176\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"177\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"178\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"179\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
+        2,
+        3,
+        4,
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+    ],
+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        3,
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+        113,
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+        118,
+        123,
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+    ],
+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
+        1,
+        2,
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+        102,
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+        104,
+        105,
+        120,
+        121,
+        123,
+        124,
+        126
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000157.json b/meta/sim/episode_00000157.json
new file mode 100644
index 0000000000000000000000000000000000000000..526a611bec4e08db018b0ae7596301f47762b74a
--- /dev/null
+++ b/meta/sim/episode_00000157.json
@@ -0,0 +1,241 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5288,
+    "num_samples": 5288,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"49\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"50\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"51\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"52\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"54\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"55\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"56\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"57\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"58\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"59\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"60\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"61\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"62\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"63\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"64\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"67\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"68\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"69\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"70\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"71\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"72\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"73\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"74\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"75\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"76\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"77\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"79\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"80\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"81\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"82\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"83\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"84\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"85\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"86\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"87\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"88\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"89\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"91\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"92\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"93\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"94\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"95\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"96\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"97\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"98\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"99\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"110\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"111\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"112\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"113\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"114\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"115\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"116\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"117\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"118\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"119\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"120\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"121\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"122\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"123\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"124\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"125\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"126\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"127\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"128\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"129\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"130\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"131\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"132\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"133\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"134\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"135\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"136\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"137\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"138\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"139\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"140\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"141\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"142\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000166.json b/meta/sim/episode_00000166.json
new file mode 100644
index 0000000000000000000000000000000000000000..d33146f0bce6d78081f3c516411eb087450ca4ff
--- /dev/null
+++ b/meta/sim/episode_00000166.json
@@ -0,0 +1,238 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6108,
+    "num_samples": 6108,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"4\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"5\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"6\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"7\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"45\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"46\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"49\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"50\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"51\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"52\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"54\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"55\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"56\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"57\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"58\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"59\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"60\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"61\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"66\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"67\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"68\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"69\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"70\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"71\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"72\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"73\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"74\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"75\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"76\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"86\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"87\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"88\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"89\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"90\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"91\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"92\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"93\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"94\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"95\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"96\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"97\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"98\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"99\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"100\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"104\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"105\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"106\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"107\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"108\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"109\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"110\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"111\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"112\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"113\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"114\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"115\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"116\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"117\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"118\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"119\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"120\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"122\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"123\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"124\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"125\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"126\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"127\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"128\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"129\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"130\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"131\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"132\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"133\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"134\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"135\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"136\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"137\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"141\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"142\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"143\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"144\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"145\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"146\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"147\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"148\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"149\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"150\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"151\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"152\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"153\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"154\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"155\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"156\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"157\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"158\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"159\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"160\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"161\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"162\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"163\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"164\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"165\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"166\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"167\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"168\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"169\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"170\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"171\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"172\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+        129,
+        5,
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+    "robot_r1::robot_r1:right_realsense_link:Camera:0::unique_ins_ids": [
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+        106,
+        151,
+        121
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000170.json b/meta/sim/episode_00000170.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3fe983d27dbd9405a1e82beec5fe113f0f475b5
--- /dev/null
+++ b/meta/sim/episode_00000170.json
@@ -0,0 +1,241 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5251,
+    "num_samples": 5251,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"48\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"49\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"50\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"51\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"52\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"53\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"54\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"55\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"56\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"57\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"58\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"59\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"60\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"61\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"62\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"63\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"68\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"69\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"71\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"72\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"73\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"74\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"75\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"76\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"77\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"78\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"79\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"80\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"81\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"82\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"83\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"84\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"85\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"86\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"87\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"88\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"89\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"90\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"91\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"92\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"93\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"94\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"95\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"96\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"97\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"99\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"100\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"101\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"102\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"103\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"104\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"105\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"106\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"107\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"108\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"109\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"110\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"111\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"112\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"113\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"114\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"116\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"117\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"124\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"125\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"126\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"127\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"128\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"129\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"130\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"131\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"132\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"133\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"134\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"135\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"137\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"138\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"139\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"140\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"141\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+    "robot_r1::robot_r1:zed_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000173.json b/meta/sim/episode_00000173.json
new file mode 100644
index 0000000000000000000000000000000000000000..546b1889726d12b7daedf36e67351d8cae860a49
--- /dev/null
+++ b/meta/sim/episode_00000173.json
@@ -0,0 +1,247 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6074,
+    "num_samples": 6074,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"46\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"48\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"49\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"50\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"51\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"52\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"54\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"55\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"56\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"57\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"58\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"59\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"60\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"61\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"62\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"63\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"64\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"66\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"67\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"68\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"69\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"71\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"72\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"73\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"74\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"75\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"76\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"77\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"78\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"79\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"80\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"81\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"82\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"83\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"84\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"88\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000174.json b/meta/sim/episode_00000174.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7dbec3fad915ce18aca1b35a201722bed7bf6f
--- /dev/null
+++ b/meta/sim/episode_00000174.json
@@ -0,0 +1,248 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5414,
+    "num_samples": 5414,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"46\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"47\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"48\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"49\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"51\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"52\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"53\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"54\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"55\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"56\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"59\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"60\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"67\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"68\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"69\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"70\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"71\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"72\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"73\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"74\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"75\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"76\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"77\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"78\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"79\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"80\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"81\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"82\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"83\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"84\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"85\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000176.json b/meta/sim/episode_00000176.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4972480b54cb33e0b77027c2d749cb1071168ce
--- /dev/null
+++ b/meta/sim/episode_00000176.json
@@ -0,0 +1,264 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    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\"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": 7759,
+    "num_samples": 7759,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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+        176,
+        177,
+        178,
+        179
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000177.json b/meta/sim/episode_00000177.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb926f69c737c5bd3316d7217783c4e66261991
--- /dev/null
+++ b/meta/sim/episode_00000177.json
@@ -0,0 +1,234 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": 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\"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4177,
+    "num_samples": 4177,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"45\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"46\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"48\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"49\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"50\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"51\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"52\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"56\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"59\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"60\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"66\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"67\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"68\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"69\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"70\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"71\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"72\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"73\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"74\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"75\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"76\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"77\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"78\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"79\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"80\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"82\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"83\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"84\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"85\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"86\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"87\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"88\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"89\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"90\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"91\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"92\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"93\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"94\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"95\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"96\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"97\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"98\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"99\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"102\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"103\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"104\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"105\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"106\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"107\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"108\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"109\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"110\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"111\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"112\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"113\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"114\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"115\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"116\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"117\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"122\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"123\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"124\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"125\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"126\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"127\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"128\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"129\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"130\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"131\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"132\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"133\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"134\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"135\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"141\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"142\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000200.json b/meta/sim/episode_00000200.json
new file mode 100644
index 0000000000000000000000000000000000000000..0498c63bceb822d06b8bec1b1f0e98d295276f26
--- /dev/null
+++ b/meta/sim/episode_00000200.json
@@ -0,0 +1,241 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5508,
+    "num_samples": 5508,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"40\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"41\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"42\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"43\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"44\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"45\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"46\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"47\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"48\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"49\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"50\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"51\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"52\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"53\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"54\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"55\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"56\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"57\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"61\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"62\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"63\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"64\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"66\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"67\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"68\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"69\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"70\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"71\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"72\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"73\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"74\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"75\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"76\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"79\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"80\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"81\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"82\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"83\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"84\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"85\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"86\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"87\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"88\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"89\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"91\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"92\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"93\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"94\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"95\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"96\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"97\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"98\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"99\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"100\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"101\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"102\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"103\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"104\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"105\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"106\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"109\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"110\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"111\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"112\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"113\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"114\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"115\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"116\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000217.json b/meta/sim/episode_00000217.json
new file mode 100644
index 0000000000000000000000000000000000000000..248952b4b62a489d746645e4564148cb8b9db9bf
--- /dev/null
+++ b/meta/sim/episode_00000217.json
@@ -0,0 +1,246 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 6085,
+    "num_samples": 6085,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"14\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"33\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"34\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"36\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"37\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"38\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"39\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"40\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"41\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"42\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"43\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"44\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"45\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"46\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"47\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"48\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"49\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"50\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"51\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"52\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"54\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"55\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"56\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"57\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"58\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"65\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"66\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"67\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"68\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"69\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"70\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"71\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"72\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"73\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"74\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"75\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"76\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"77\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"79\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"80\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"88\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000223.json b/meta/sim/episode_00000223.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba1fb7aac224e49c9bac380257ea93c8f6f242c
--- /dev/null
+++ b/meta/sim/episode_00000223.json
@@ -0,0 +1,252 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 7509,
+    "num_samples": 7509,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"43\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"44\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"45\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"46\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"47\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"48\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"49\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"50\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"51\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"52\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"53\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"54\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"55\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"56\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"57\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"58\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"59\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"60\": 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\"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"76\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"78\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"79\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"80\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"81\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"82\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"83\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"84\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"85\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"86\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"87\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"88\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"89\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000228.json b/meta/sim/episode_00000228.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28b23344e961fcabd610b6c074c95ebe888d021
--- /dev/null
+++ b/meta/sim/episode_00000228.json
@@ -0,0 +1,238 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": 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\"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4702,
+    "num_samples": 4702,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"47\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"48\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"49\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"51\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"52\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"56\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"57\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"59\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"64\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"65\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"66\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"67\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"68\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"69\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"70\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"71\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"72\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"73\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"74\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"75\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"76\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"78\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"79\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"84\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"85\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"86\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"87\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"88\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"89\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"90\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"91\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"92\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"93\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"94\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"95\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"96\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"97\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"98\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"99\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"104\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"105\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"106\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"107\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"108\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"109\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"110\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"111\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"112\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"113\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"114\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"115\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"116\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"117\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"121\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"122\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"123\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"124\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"125\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"126\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"127\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"128\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"129\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"130\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"131\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"132\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"133\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"134\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"135\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"138\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"139\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"140\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"141\": 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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000230.json b/meta/sim/episode_00000230.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02461b6439bba28ecc82551a93580f90e7182dd
--- /dev/null
+++ b/meta/sim/episode_00000230.json
@@ -0,0 +1,254 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5100,
+    "num_samples": 5100,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"42\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"43\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"44\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"45\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000231.json b/meta/sim/episode_00000231.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16732128fbbe1c59154e283afb5781ba4ba9559
--- /dev/null
+++ b/meta/sim/episode_00000231.json
@@ -0,0 +1,248 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"downlight_fisfbn_6\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"downlight_fisfbn_6\", \"category\": \"downlight\", \"model\": \"fisfbn\", \"scale\": [0.9933567047119141, 0.9989626407623291, 1.3310413360595703], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\", \"bddl_object_scope\": null}}, \"electric_switch_strbnw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_0\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_1\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_2\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_2\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"}}, \"fixed_window_lhzwtz_3\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_3\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\", \"bddl_object_scope\": null}}, \"hook_akwlam_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"hook_akwlam_0\", \"category\": \"hook\", \"model\": \"akwlam\", \"scale\": [0.9989968538284302, 0.999685525894165, 0.9994485974311829], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"97c95f19b6091cbc571ef52ee3fee49d\"}}, \"stairs_tikozn_0\": {\"class_module\": 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\"args\": {\"name\": \"bookcase_eckdny_0\", \"category\": \"bookcase\", \"model\": \"eckdny\", \"scale\": [1.0001277923583984, 0.9999730587005615, 0.9999985098838806], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"bcd4a1013d2accb9170f93000b74045e\", \"bddl_object_scope\": null}}, \"door_dlncrt_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_dlncrt_0\", \"category\": \"door\", \"model\": \"dlncrt\", \"scale\": [1.0001740455627441, 1.0000379085540771, 1.0000050067901611], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"b9a03dca22749e6d8d6b5c99991d43e0\"}}, \"door_pevmgl_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"door_pevmgl_0\", \"category\": \"door\", \"model\": \"pevmgl\", \"scale\": [1.0003702640533447, 1.0000139474868774, 0.999976634979248], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"f2d8f633505ed9052077f77d5cc0fbd2\"}}, \"armchair_axcwcm_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"armchair_axcwcm_0\", \"category\": \"armchair\", \"model\": \"axcwcm\", \"scale\": [0.9999984502792358, 0.9999963045120239, 0.9999688863754272], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"91a9e76f3aa2f92c27f44c6ea0ba0feb\"}}, \"coffee_table_osroux_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"coffee_table_osroux_0\", \"category\": \"coffee_table\", \"model\": \"osroux\", \"scale\": [1.0, 1.0000073909759521, 0.9999943971633911], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"c9c67f147daab9c2db7564c7b56f23a4\"}}, \"floor_lamp_mqfdjk_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_mqfdjk_0\", \"category\": \"floor_lamp\", \"model\": \"mqfdjk\", \"scale\": [1.000029444694519, 1.0000795125961304, 1.000067114830017], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"649801e0443a618b0fc63e387c021a59\", \"bddl_object_scope\": null}}, \"floor_lamp_ogolip_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"floor_lamp_ogolip_0\", \"category\": \"floor_lamp\", \"model\": \"ogolip\", \"scale\": [0.9999575018882751, 0.9999538064002991, 0.9999926686286926], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_1\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, \"nightstand_uzxrlg_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_uzxrlg_0\", \"category\": \"nightstand\", \"model\": \"uzxrlg\", \"scale\": [1.0000001192092896, 1.0000001192092896, 1.0000001192092896], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\", \"bddl_object_scope\": null}}, \"ottoman_qsnawv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"ottoman_qsnawv_0\", \"category\": \"ottoman\", \"model\": \"qsnawv\", \"scale\": [1.0000733137130737, 1.0000184774398804, 1.0000115633010864], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"a2878bf757f185675eb7acf264e906e0\", \"bddl_object_scope\": null}}, \"swivel_chair_iiihwn_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"swivel_chair_iiihwn_0\", \"category\": \"swivel_chair\", \"model\": \"iiihwn\", \"scale\": [0.999993085861206, 1.0000238418579102, 0.9999864101409912], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"42784c74a8a54d67aa227e270e49afff\", \"bddl_object_scope\": null}}, \"table_lamp_erfbgw_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": 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\"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3883ce600b8dcf1255d4bbdc6103a5b8\"}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\", \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\", \"bddl_object_scope\": null}}, \"background_gkemae_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"background_gkemae_0\", \"category\": \"background\", \"model\": \"gkemae\", \"scale\": [1.0000039339065552, 0.9999995827674866, 1.0000026226043701], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": \"\", \"expected_file_hash\": \"518c1d2677fb5483cc56a3d7f6864375\", \"bddl_object_scope\": null}}, \"bathtub_rufepf_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bathtub_rufepf_0\", \"category\": \"bathtub\", \"model\": \"rufepf\", \"scale\": [1.0000211000442505, 0.9999750256538391, 0.9999595284461975], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bathroom_0\"], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4434,
+    "num_samples": 4434,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"43\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"44\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"45\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"46\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"47\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"48\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"49\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"50\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"51\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"52\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"53\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"54\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"55\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"56\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"59\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"60\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"67\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"68\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"69\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"70\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"71\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"72\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"73\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"74\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"75\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"76\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"77\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"78\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"79\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"80\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"82\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"83\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"84\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"85\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"86\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"87\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"88\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000233.json b/meta/sim/episode_00000233.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffd7c4d9ad73b2a3e7bd6c947df51d6aca770342
--- /dev/null
+++ b/meta/sim/episode_00000233.json
@@ -0,0 +1,234 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4696,
+    "num_samples": 4696,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"45\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"46\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"47\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"48\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"49\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"51\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"52\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"53\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"54\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"55\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"56\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"58\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"63\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"64\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"65\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"66\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"67\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"68\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"69\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"70\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"71\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"72\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"73\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"74\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"75\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"76\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"77\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"78\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"79\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"80\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"81\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"82\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"83\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"84\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"85\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"86\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"87\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"88\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"89\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"90\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"91\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"92\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"93\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"94\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"95\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"96\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"97\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"98\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"99\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"100\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"101\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"102\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"105\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"106\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"107\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"108\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"109\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"110\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"111\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"112\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"113\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"114\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"115\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"116\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"117\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"119\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"123\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"124\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"125\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"126\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"127\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"128\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"129\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"130\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"131\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"132\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"133\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"134\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"135\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"136\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"137\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"138\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"139\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"141\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"142\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"143\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"144\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"145\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"146\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"147\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"148\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"149\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"150\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"151\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"152\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"153\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"154\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"155\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"156\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"157\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"158\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"159\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"160\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"161\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"162\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"163\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"164\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"165\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"166\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"167\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"168\": 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+        179,
+        180
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000234.json b/meta/sim/episode_00000234.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cbdde42df35660c1d09f3be6778aac029ca0ac
--- /dev/null
+++ b/meta/sim/episode_00000234.json
@@ -0,0 +1,243 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4657,
+    "num_samples": 4657,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"49\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"50\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"51\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"52\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"53\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"54\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"55\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"56\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"57\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"58\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"59\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"60\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"61\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"62\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"63\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"64\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"65\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"66\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"67\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"68\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"69\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"70\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"71\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"72\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"73\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"74\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"75\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"76\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"77\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"78\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"79\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"80\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"81\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"82\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"83\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"84\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"85\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"86\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"87\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"88\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"93\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"94\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"95\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"96\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"97\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"98\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"99\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000236.json b/meta/sim/episode_00000236.json
new file mode 100644
index 0000000000000000000000000000000000000000..e74e934228c8635fb7f345daeabdd811c233e4c4
--- /dev/null
+++ b/meta/sim/episode_00000236.json
@@ -0,0 +1,248 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 5980,
+    "num_samples": 5980,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"44\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000248.json b/meta/sim/episode_00000248.json
new file mode 100644
index 0000000000000000000000000000000000000000..62024a1e1eb9b63bcda2c7e07fe837106a16d0cf
--- /dev/null
+++ b/meta/sim/episode_00000248.json
@@ -0,0 +1,235 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4179,
+    "num_samples": 4179,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"3\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"4\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"5\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"15\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"16\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"35\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"36\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"44\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"45\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"46\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"47\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"48\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"49\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"51\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"52\": \"/World/scene_0/desk_uqcmzf_0/base_link/visuals\", \"53\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"54\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"55\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"56\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"57\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"58\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"59\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link2/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"66\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"67\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"68\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"69\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"70\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"71\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"72\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"73\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"74\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"75\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"76\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"77\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"79\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"80\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link2/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"85\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"86\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"87\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"88\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"89\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"90\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"91\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"92\": \"/World/scene_0/bed_siuxgz_0/base_link/visuals\", \"93\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"94\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"95\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"96\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"97\": \"/World/scene_0/fixed_window_etjpqr_0/glass/visuals\", \"98\": \"/World/scene_0/fixed_window_etjpqr_0/base_link/visuals\", \"99\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"100\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"101\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"102\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"103\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link1/visuals\", \"104\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"105\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"106\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"107\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"108\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_base_link/visuals\", \"109\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"110\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"111\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"112\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"113\": \"/World/scene_0/ceilings_qhcqdn_0/base_link/visuals\", \"114\": \"/World/scene_0/door_pxhbim_2/leaf/visuals\", \"115\": \"/World/scene_0/door_pxhbim_2/base_link/visuals\", \"116\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"117\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"118\": \"/World/scene_0/picture_nzctlq_0/base_link/visuals\", \"119\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"120\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1/visuals\", \"121\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"122\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"123\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"124\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"125\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_4/visuals\", \"126\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_3/visuals\", \"127\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_2/visuals\", \"128\": \"/World/scene_0/bottom_cabinet_nddvba_0/link_1/visuals\", \"129\": \"/World/scene_0/bottom_cabinet_nddvba_0/base_link/visuals\", \"130\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"131\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"132\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"133\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"134\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"135\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"136\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"137\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"138\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"139\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"140\": \"/World/scene_0/floors_zrhxwn_0/base_link/visuals\", \"141\": \"/World/scene_0/picture_abtgvz_0/base_link/visuals\", \"142\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"143\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"144\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"145\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"146\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"147\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"148\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"149\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"150\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"151\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"152\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"153\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"154\": 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\"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"169\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"170\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"171\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"172\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"173\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"174\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"175\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"176\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"177\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"178\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"179\": \"/World/scene_0/shelf_sapyzl_0/base_link/visuals\", \"180\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link3/visuals\"}",
+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+        3,
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+        123,
+        124
+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000258.json b/meta/sim/episode_00000258.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a85aa6219a0e75cbfec9ca27ff2b2b32f9a7716
--- /dev/null
+++ b/meta/sim/episode_00000258.json
@@ -0,0 +1,239 @@
+{
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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4191,
+    "num_samples": 4191,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"37\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"44\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"45\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"46\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"47\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"48\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"49\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"50\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"51\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"52\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"53\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"54\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"55\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"56\": \"/World/scene_0/floors_rfqizg_0/base_link/visuals\", \"57\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"58\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"59\": \"/World/scene_0/railing_pqzbbb_2/base_link/visuals\", \"60\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link1/visuals\", \"62\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"63\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"64\": \"/World/scene_0/nightstand_roxnbe_1/base_link/visuals\", \"65\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"66\": \"/World/scene_0/bookcase_opryhp_0/base_link/visuals\", \"67\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"68\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"69\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"70\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"71\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"72\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"73\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"74\": \"/World/scene_0/shelf_sapyzl_1/base_link/visuals\", \"75\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"76\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"77\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"78\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"79\": \"/World/scene_0/nightstand_aykehx_0/base_link/visuals\", \"80\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"81\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"82\": \"/World/scene_0/bookcase_bsvnni_0/base_link/visuals\", \"83\": \"/World/scene_0/ceilings_laeuzw_0/base_link/visuals\", \"84\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"85\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"86\": \"/World/scene_0/fixed_window_etjpqr_5/glass/visuals\", \"87\": \"/World/scene_0/fixed_window_etjpqr_5/base_link/visuals\", \"88\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"89\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"90\": \"/World/scene_0/picture_yrkfct_0/base_link/visuals\", \"91\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link3/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link1/visuals\", \"95\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"96\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"97\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"98\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"99\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"100\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"101\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"102\": 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\"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"117\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link6/visuals\", \"118\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"119\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"120\": \"/World/scene_0/fixed_window_lhzwtz_3/base_link/visuals\", \"121\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"122\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"123\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"124\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"125\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"126\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"127\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"128\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"129\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"130\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"131\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"132\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"133\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"134\": \"/World/scene_0/controllable__r1pro__robot_r1/torso_link4/visuals\", \"135\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link4/visuals\", \"136\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"137\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link3/visuals\", \"138\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"139\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"140\": \"/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link/visuals\", \"141\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"142\": 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+    "robot_r1::robot_r1:left_realsense_link:Camera:0::unique_ins_ids": [
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+    ]
+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000267.json b/meta/sim/episode_00000267.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d80d1787227934918ca6f4a5866b76d3535ef72
--- /dev/null
+++ b/meta/sim/episode_00000267.json
@@ -0,0 +1,240 @@
+{
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0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 1,\n                            \"dust\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"trumpet_87\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.129143714904785,\n                            -0.04543597996234894,\n                            0.8415219783782959\n                     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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"9f1fd18bd922a604c2790a5372af7d07\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n   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          \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": 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0.9999985694885254,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1211f5e4d7b069b49416e4beeb21520e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qhcqdn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qhcqdn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qhcqdn\",\n 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\"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\"\n                            }\n                        },\n                        \"door_pxhbim_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_1\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n             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                           \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": 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    \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": 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                       }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": 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                 ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0e7ad3883512e4e419a7b205bd09517f\"\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f5ec6d72ecca19eee49a14044e8f73ae\"\n                            }\n                        },\n                        \"picture_nzctlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_rypaxo_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"rypaxo\",\n                                \"scale\": [\n               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\"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                                    1.0000495910644531,\n                                    0.9983996152877808\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9b133296d8d2faa89aab2552779b30a3\"\n                            }\n                        },\n                        \"picture_yrkfct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": 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         }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                      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           ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hddwcd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hddwcd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                               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1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    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\"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                    \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                         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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_1\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                 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                \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                  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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"folderal_ydrlth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"folderal_ydrlth_0\",\n                    \"category\": \"folderal\",\n                 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0.9999114871025085,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"map_hsbtqi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"map_hsbtqi_0\",\n                    \"category\": \"map\",\n                    \"model\": \"hsbtqi\",\n                    \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n                        1.0000113248825073\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n             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\"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n         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],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            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\"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": 3491,
+    "num_samples": 3491,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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diff --git a/meta/sim/episode_00000277.json b/meta/sim/episode_00000277.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb76512f81c57635a0037fd8fc89482d67ed265
--- /dev/null
+++ b/meta/sim/episode_00000277.json
@@ -0,0 +1,248 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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\"in_rooms\": [\"bathroom_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"}}, \"electric_switch_strbnw_1\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"electric_switch_strbnw_1\", \"category\": \"electric_switch\", \"model\": \"strbnw\", \"scale\": [1.0014913082122803, 0.9996373653411865, 0.9999880194664001], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\", \"bddl_object_scope\": null}}, \"fixed_window_lhzwtz_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"fixed_window_lhzwtz_0\", \"category\": \"fixed_window\", \"model\": \"lhzwtz\", \"scale\": [1.0003936290740967, 0.9999641180038452, 0.9999814033508301], \"fixed_base\": true, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": 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\"expected_file_hash\": \"8ebb487cef2d5366dbc230de97a2464c\", \"bddl_object_scope\": null}}, \"nightstand_aykehx_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_aykehx_0\", \"category\": \"nightstand\", \"model\": \"aykehx\", \"scale\": [1.0, 1.0, 0.9999998211860657], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_0\"], \"expected_file_hash\": \"13f9167ad1e189ffaaec5cea75cfcacf\", \"bddl_object_scope\": null}}, \"nightstand_roxnbe_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"nightstand_roxnbe_0\", \"category\": \"nightstand\", \"model\": \"roxnbe\", \"scale\": [0.9999985098838806, 0.999971330165863, 0.9999985694885254], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_1\"], \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\", \"bddl_object_scope\": null}}, 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\"scale\": [1.0000922679901123, 0.999626874923706, 1.0000587701797485], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"living_room_0\"], \"bddl_object_scope\": null, \"expected_file_hash\": \"3883ce600b8dcf1255d4bbdc6103a5b8\"}}, \"table_lamp_wbcgev_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"table_lamp_wbcgev_0\", \"category\": \"table_lamp\", \"model\": \"wbcgev\", \"scale\": [0.9998542070388794, 0.9999491572380066, 1.000084400177002], \"fixed_base\": false, \"visual_only\": false, \"in_rooms\": [\"bedroom_2\"], \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\", \"bddl_object_scope\": null}}, \"taboret_cgwxtq_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"taboret_cgwxtq_0\", \"category\": \"taboret\", \"model\": \"cgwxtq\", \"scale\": [1.0000165700912476, 0.9998753666877747, 1.0000357627868652], 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4506,
+    "num_samples": 4506,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"3\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"19\": \"/World/scene_0/wall_socket_plssag_1/base_link/visuals\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"47\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"48\": \"/World/scene_0/downlight_fisfbn_5/base_link/visuals\", \"49\": \"/World/scene_0/door_dlncrt_0/leaf/visuals\", \"50\": \"/World/scene_0/door_dlncrt_0/base_link/visuals\", \"51\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"52\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"53\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"54\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"55\": \"/World/scene_0/ceilings_srlfnq_0/base_link/visuals\", \"56\": \"/World/scene_0/door_pxhbim_3/leaf/visuals\", \"57\": \"/World/scene_0/door_pxhbim_3/base_link/visuals\", \"58\": \"/World/scene_0/floors_tfuahz_0/base_link/visuals\", \"59\": \"/World/scene_0/painting_ljabhq_0/base_link/visuals\", \"60\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000294.json b/meta/sim/episode_00000294.json
new file mode 100644
index 0000000000000000000000000000000000000000..938be39ae33a77ce521faad8476516e39c3d668c
--- /dev/null
+++ b/meta/sim/episode_00000294.json
@@ -0,0 +1,246 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4674,
+    "num_samples": 4674,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/fixed_window_lhzwtz_0/glass/visuals\", \"3\": \"/World/scene_0/fixed_window_lhzwtz_1/glass/visuals\", \"4\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"5\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"6\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"19\": \"/World/scene_0/railing_pqzbbb_3/base_link/visuals\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"38\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"39\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"49\": \"/World/scene_0/fixed_window_lhzwtz_0/base_link/visuals\", \"50\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"51\": \"/World/scene_0/nightstand_roxnbe_0/base_link/visuals\", \"52\": \"/World/scene_0/table_lamp_erfbgw_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"53\": \"/World/scene_0/table_lamp_erfbgw_0/base_link/visuals\", \"54\": \"/World/scene_0/bed_tjfzsb_0/base_link/visuals\", \"55\": \"/World/scene_0/ceilings_gznlyj_0/base_link/visuals\", \"56\": \"/World/scene_0/desk_aduafr_0/drawer3/visuals\", \"57\": \"/World/scene_0/desk_aduafr_0/drawer2/visuals\", \"58\": \"/World/scene_0/desk_aduafr_0/drawer1/visuals\", \"59\": \"/World/scene_0/desk_aduafr_0/base_link/visuals\", \"60\": \"/World/scene_0/floors_nlswvt_0/base_link/visuals\", \"61\": \"/World/scene_0/painting_jfkvxh_0/base_link/visuals\", \"62\": \"/World/scene_0/picture_svpzro_0/base_link/visuals\", \"63\": \"/World/scene_0/room_divider_bydmct_0/base_link/visuals\", \"64\": \"/World/scene_0/floor_lamp_ogolip_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"65\": \"/World/scene_0/floor_lamp_ogolip_0/base_link/visuals\", \"66\": \"/World/scene_0/ottoman_qsnawv_0/base_link/visuals\", \"67\": \"/World/scene_0/taboret_cgwxtq_0/base_link/visuals\", \"68\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"69\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"71\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"72\": \"/World/scene_0/floors_dcxicr_0/base_link/visuals\", \"73\": \"/World/scene_0/map_hsbtqi_0/base_link/visuals\", \"74\": \"/World/scene_0/picture_rypaxo_0/base_link/visuals\", \"75\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"76\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"77\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"78\": \"/World/scene_0/door_pevmgl_0/leaf/visuals\", \"79\": \"/World/scene_0/door_pevmgl_0/base_link/visuals\", \"80\": \"/World/scene_0/table_lamp_erfbgw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"81\": \"/World/scene_0/table_lamp_erfbgw_1/base_link/visuals\", \"82\": \"/World/scene_0/bookcase_kmuacd_0/base_link/visuals\", \"83\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"84\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"85\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"86\": \"/World/scene_0/map_fdtxut_0/base_link/visuals\", \"87\": \"/World/scene_0/picture_aqahkx_0/base_link/visuals\", \"88\": \"/World/scene_0/picture_ttwhjj_0/base_link/visuals\", \"89\": \"/World/scene_0/controllable__r1pro__robot_r1/steer_motor_link1/visuals\", \"90\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2/visuals\", \"91\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"92\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"93\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"94\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link2/visuals\", \"95\": \"/World/scene_0/fixed_window_lhzwtz_1/base_link/visuals\", \"96\": \"/World/scene_0/floor_lamp_mqfdjk_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"97\": \"/World/scene_0/floor_lamp_mqfdjk_0/base_link/visuals\", \"98\": \"/World/scene_0/nightstand_uzxrlg_0/base_link/visuals\", \"99\": \"/World/scene_0/background_gkemae_0/base_link/visuals\", \"100\": \"/World/scene_0/bookcase_kdnyfh_0/base_link/visuals\", \"101\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000296.json b/meta/sim/episode_00000296.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba25e26a92969ead7ed7d0ca354afad8c8e33df
--- /dev/null
+++ b/meta/sim/episode_00000296.json
@@ -0,0 +1,242 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_double_floor_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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            \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"42a7a1632907516f58fee69760999c6c\"\n                            }\n                        },\n                        \"bottom_cabinet_nddvba_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n              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                   \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"hook_akwlam_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"hook_akwlam_0\",\n                                \"category\": \"hook\",\n                                \"model\": \"akwlam\",\n                                \"scale\": [\n                        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    \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"0960ad0ff06a1a5d542835ee5abac0c8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"taboret_cgwxtq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"taboret_cgwxtq_0\",\n                                \"category\": \"taboret\",\n                                \"model\": \"cgwxtq\",\n                                \"scale\": [\n                                    1.0000165700912476,\n                                    0.9998753666877747,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"faa94b7546ce5e775e8b69dd39052910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"background_gkemae_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"background_gkemae_0\",\n                                \"category\": \"background\",\n                                \"model\": \"gkemae\",\n                                \"scale\": [\n     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              \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bed_siuxgz_0\",\n                                \"category\": \"bed\",\n                                \"model\": \"siuxgz\",\n                                \"scale\": [\n                                    0.9999813437461853,\n                                    0.9999961256980896,\n                                    0.9999623894691467\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"a6eaeeb2b5172cf7d3c2b8865b01883a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                      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                   ],\n                                \"expected_file_hash\": \"a06ff8b6a5f312bb8a71adfcdb10e8e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kdnyfh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kdnyfh_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kdnyfh\",\n                                \"scale\": [\n                                    1.0000849962234497,\n                                    1.0000241994857788,\n                                    0.9999460577964783\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"56c2b7ee493417577214c58129668c88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_kmuacd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_kmuacd_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"kmuacd\",\n                                \"scale\": [\n                                    1.0000832080841064,\n                                    0.9999729990959167,\n                                    0.99996417760849\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eb362bf5c563fe512dbf1bce54305a20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_opryhp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_opryhp_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n              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\"category\": \"bookcase\",\n                                \"model\": \"opryhp\",\n                                \"scale\": [\n                                    0.9998956322669983,\n                                    1.0000393390655518,\n                                    1.0000652074813843\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"15ace66b7cacdb7f4e9b0306c158a7b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bookcase_otwukr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_0\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_1\": {\n         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                    ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bookcase_otwukr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bookcase_otwukr_3\",\n                                \"category\": \"bookcase\",\n                                \"model\": \"otwukr\",\n                                \"scale\": [\n                                    0.9999989867210388,\n                                    0.9999999403953552,\n                                    0.9999998807907104\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"43925e2a316d9664c19e48ec670837d5\"\n                            }\n                        },\n                        \"bottom_cabinet_no_top_ncgmqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_ncgmqr_0\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"ncgmqr\",\n                                \"scale\": [\n                                    0.9999368190765381,\n                                    1.0000134706497192,\n                                    0.9999588131904602\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"fff5dc3cb6e0c6f5f090e1aeed95e24a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_gznlyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_gznlyj_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"gznlyj\",\n 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"559ea737755fe3761e9134cbdd077659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"desk_iotfzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_iotfzl_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"iotfzl\",\n                                \"scale\": [\n                                    0.999945342540741,\n                                    0.9999765753746033,\n                                    0.9999732971191406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n         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  \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_3\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_vlplia_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                 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\"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": 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              }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_5\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_tfuahz_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"tfuahz\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    1.0000156164169312,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\"\n                            }\n                        },\n                        \"floors_zrhxwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_zrhxwn_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"zrhxwn\",\n                                \"scale\": [\n                                    1.0000113248825073,\n                                    0.9999984502792358,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"folderal_ydrlth_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"folderal_ydrlth_0\",\n                                \"category\": \"folderal\",\n                                \"model\": \"ydrlth\",\n                                \"scale\": [\n                                    1.0001840591430664,\n                                    0.9998601078987122,\n                                    1.000731110572815\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c1fcfc0dadaed376c63b0495b912dcc6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"furniture_sink_ojjqku_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"4fafeca17acf07bbecf8d609038e05cf\"\n                            }\n                        },\n                        \"picture_nxjgqw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxjgqw_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxjgqw\",\n                                \"scale\": [\n                                    0.9999761581420898,\n                                    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\"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": 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\"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_3\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                     ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"3f00d889be94fc8dd14ca7c5f9e9337c\"\n                            }\n                        },\n                        \"showerhead_svuhzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_svuhzb_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"svuhzb\",\n                                \"scale\": [\n                                    1.000108003616333,\n                                    1.0001031160354614,\n                                    1.0000262260437012\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"cefb4da8506a30bdaecc939b0a77fee2\"\n                            }\n                        },\n                        \"sofa_ukfaaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_ukfaaz_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"ukfaaz\",\n                                \"scale\": [\n                                    0.9999885559082031,\n                                    1.0000011920928955,\n                                    0.9999796748161316\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5e62382fc5698eb85c67fea042ee2544\"\n                            }\n                        },\n                        \"toilet_udiezm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_0\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n              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\"category\": \"towel_rack\",\n                                \"model\": \"qedffr\",\n                                \"scale\": [\n                                    1.0001524686813354,\n                                    1.0000016689300537,\n                                    1.0000251531600952\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9d45dcf11e7c06ce58f103a5a8ecfbdc\"\n                            }\n                        },\n                        \"wall_mounted_light_etqbld_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_etqbld_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"etqbld\",\n                                \"scale\": [\n                                    0.9998313784599304,\n                                    1.000183343887329,\n                                    1.0000163316726685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                      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                         \"expected_file_hash\": \"bec49b22c822d506873e7abbead1afed\"\n                            }\n                        },\n                        \"wall_mounted_tv_sodbbr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_sodbbr_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"sodbbr\",\n                                \"scale\": [\n                                    1.000807523727417,\n                                    1.0000016689300537,\n                                    0.9999944567680359\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": 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                    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_socket_plssag_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_socket_plssag_1\",\n                                \"category\": \"wall_socket\",\n                                \"model\": \"plssag\",\n                                \"scale\": [\n                                    1.0000931024551392,\n                                    1.000092625617981,\n                                    0.9969291687011719\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_boflea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_boflea_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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                               \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jpdrrk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jpdrrk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jpdrrk\",\n                                \"scale\": [\n                                    0.9998674392700195,\n                                    1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    1.0000122785568237,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lempwq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lempwq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lempwq\",\n                                \"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_slooel_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"slooel\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    1.0,\n                                    1.0000054836273193\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vastci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ynhwyn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ynhwyn\",\n                                \"scale\": [\n                                    0.9999961256980896,\n                                    0.9999467134475708,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n          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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"scrub_brush_86\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"scrub_brush_86\",\n                                \"category\": \"scrub_brush\",\n                                \"model\": \"hsejyi\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                            }\n                        },\n                        \"trumpet_87\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"trumpet_87\",\n                                \"category\": \"trumpet\",\n                                \"model\": \"bafgow\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                            }\n                        },\n                        \"robot_r1\": {\n                            \"class_module\": \"omnigibson.robots.r1pro\",\n                            \"class_name\": \"R1Pro\",\n                            \"args\": {\n                                \"name\": \"robot_r1\",\n                                \"self_collisions\": true,\n                                \"controller_config\": {\n                                    \"arm_left\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"arm_right\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"gripper_left\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"gripper_right\": {\n                                        \"name\": \"MultiFingerGripperController\",\n                                        \"mode\": \"smooth\",\n                                        \"command_input_limits\": \"default\",\n                                        \"command_output_limits\": \"default\"\n                                    },\n                                    \"base\": {\n                                        \"name\": \"HolonomicBaseJointController\",\n                                        \"motor_type\": \"velocity\",\n                                        \"vel_kp\": 150,\n                                        \"command_input_limits\": [\n                                            [\n                                                -1.0,\n                           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             ]\n                                        ],\n                                        \"use_impedances\": false\n                                    },\n                                    \"trunk\": {\n                                        \"name\": \"JointController\",\n                                        \"motor_type\": \"position\",\n                                        \"pos_kp\": 150,\n                                        \"command_input_limits\": null,\n                                        \"command_output_limits\": null,\n                                        \"use_impedances\": false,\n                                        \"use_delta_commands\": false\n                                    },\n                                    \"camera\": {\n                                        \"name\": \"NullJointController\"\n                                    }\n                                },\n                                \"action_normalize\": 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}\n            },\n            \"nightstand_roxnbe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"nightstand_roxnbe_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"roxnbe\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        0.999971330165863,\n                        0.9999985694885254\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"d7558b2b98d1d31dfd91037cf3e88716\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"nightstand_roxnbe_1\": {\n                \"class_module\": 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\"args\": {\n                    \"name\": \"nightstand_uzxrlg_0\",\n                    \"category\": \"nightstand\",\n                    \"model\": \"uzxrlg\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        1.0000001192092896,\n                        1.0000001192092896\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"339da79d334c6908c88288635bca82e7\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ottoman_qsnawv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ottoman_qsnawv_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_tfuahz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": 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\"args\": {\n                    \"name\": \"picture_hyjqxp_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"hyjqxp\",\n                    \"scale\": [\n                        0.9998784065246582,\n                        1.000119686126709,\n                        0.9999837279319763\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"66ae5988610c5d0ca150b4832358f67d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_nzctlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_nzctlq_0\",\n                    \"category\": \"picture\",\n    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],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_ttwhjj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_ttwhjj_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"ttwhjj\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.999886155128479,\n                        1.0023601055145264\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_vezfau_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_vezfau_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"vezfau\",\n                    \"scale\": [\n                        0.9998895525932312,\n                        1.0000633001327515,\n                        1.0023577213287354\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"picture_yrkfct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"picture_yrkfct_0\",\n                    \"category\": \"picture\",\n                    \"model\": \"yrkfct\",\n                    \"scale\": [\n                        0.9999779462814331,\n                        0.9999926686286926,\n                        0.9999897480010986\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                    \"bddl_object_scope\": null\n     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\"args\": {\n                    \"name\": \"railing_pqzbbb_3\",\n                    \"category\": \"railing\",\n                    \"model\": \"pqzbbb\",\n                    \"scale\": [\n                        0.9999876618385315,\n                        1.0000152587890625,\n                        0.9999931454658508\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"room_divider_bydmct_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"room_divider_bydmct_0\",\n                    \"category\": 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],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_socket_plssag_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_socket_plssag_1\",\n                    \"category\": \"wall_socket\",\n                    \"model\": \"plssag\",\n                    \"scale\": [\n                        1.0000931024551392,\n                        1.000092625617981,\n                        0.9969291687011719\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2bad7ab3789c6c20cac9c91bc82d6665\",\n                   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       \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        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           \"expected_file_hash\": \"fc17a03169f57941fcdb7dbfeb0c2160\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lempwq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ynhwyn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ynhwyn\",\n                    \"scale\": [\n                        0.9999961256980896,\n                        0.9999467134475708,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d343bc36d5f1794915648892acc3f2ce\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zlekao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zlekao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zlekao\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999727010726929,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"37da8473d383e6b31b9bd3b3383b0cd6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"scrub_brush_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"scrub_brush_86\",\n                    \"category\": \"scrub_brush\",\n                    \"model\": \"hsejyi\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n             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             \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"gripper_left\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"gripper_right\": {\n                            \"name\": \"MultiFingerGripperController\",\n                            \"mode\": \"smooth\",\n                            \"command_input_limits\": \"default\",\n                            \"command_output_limits\": \"default\"\n                        },\n                        \"base\": {\n                            \"name\": \"HolonomicBaseJointController\",\n                            \"motor_type\": \"velocity\",\n                            \"vel_kp\": 150,\n                            \"command_input_limits\": [\n                                [\n                                    -1.0,\n                                    -1.0,\n                                    -1.0\n                                ],\n                                [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ]\n                            ],\n                            \"command_output_limits\": [\n                                [\n                                    -0.75,\n                                    -0.75,\n                                    -1.0\n                                ],\n                                [\n                                    0.75,\n                                    0.75,\n                                    1.0\n                                ]\n                            ],\n                            \"use_impedances\": false\n                        },\n                        \"trunk\": {\n                            \"name\": \"JointController\",\n                            \"motor_type\": \"position\",\n                            \"pos_kp\": 150,\n                            \"command_input_limits\": null,\n                            \"command_output_limits\": null,\n                            \"use_impedances\": false,\n                            \"use_delta_commands\": false\n                        },\n                        \"camera\": {\n                            \"name\": \"NullJointController\"\n                        }\n                    },\n                    \"action_normalize\": false,\n                    \"reset_joint_pos\": [\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        1.024999976158142,\n                        -1.4500000476837158,\n                        -0.4699999988079071,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.0,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806,\n                        0.05000000074505806\n                    ],\n                    \"obs_modalities\": [\n                        \"proprio\"\n                    ],\n                    \"include_sensor_names\": null,\n                    \"exclude_sensor_names\": null,\n                    \"proprio_obs\": [\n                        \"joint_qpos\",\n                        \"joint_qpos_sin\",\n                        \"joint_qpos_cos\",\n                        \"joint_qvel\",\n                        \"joint_qeffort\",\n                        \"robot_pos\",\n                        \"robot_ori_cos\",\n                        \"robot_ori_sin\",\n                        \"robot_2d_ori\",\n                        \"robot_2d_ori_cos\",\n                        \"robot_2d_ori_sin\",\n                        \"robot_lin_vel\",\n                        \"robot_ang_vel\",\n                        \"arm_left_qpos\",\n                        \"arm_left_qpos_sin\",\n                        \"arm_left_qpos_cos\",\n                        \"arm_left_qvel\",\n                        \"eef_left_pos\",\n                        \"eef_left_quat\",\n                        \"grasp_left\",\n                        \"gripper_left_qpos\",\n                        \"gripper_left_qvel\",\n                        \"arm_right_qpos\",\n                        \"arm_right_qpos_sin\",\n                        \"arm_right_qpos_cos\",\n                        \"arm_right_qvel\",\n                        \"eef_right_pos\",\n                        \"eef_right_quat\",\n                        \"grasp_right\",\n                        \"gripper_right_qpos\",\n                        \"gripper_right_qvel\",\n                        \"trunk_qpos\",\n                        \"trunk_qvel\",\n                        \"base_qpos\",\n                        \"base_qpos_sin\",\n                        \"base_qpos_cos\",\n                        \"base_qvel\"\n                    ],\n                    \"sensor_config\": {\n                        \"VisionSensor\": {\n                            \"modalities\": [\n                                \"rgb\",\n                                \"depth_linear\",\n                                \"seg_semantic\",\n                                \"seg_instance_id\"\n                            ],\n                            \"sensor_kwargs\": {\n                                \"image_height\": 480,\n                                \"image_width\": 480\n                            }\n                        }\n                    },\n                    \"grasping_mode\": \"assisted\",\n                    \"expected_file_hash\": \"4ed6cf0910d2c4a82afbb472a41ccf25\"\n                }\n            }\n        }\n    }\n}",
+    "n_episodes": 1,
+    "n_steps": 4093,
+    "num_samples": 4093,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"3\": \"/World/scene_0/trumpet_87/base_link/visuals\", \"4\": \"/World/scene_0/scrub_brush_86/base_link/visuals\", \"5\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"6\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"7\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"8\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"9\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"10\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"11\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"12\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ldoefg_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_jpdrrk_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_eguptx_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_boflea_0/base_link/visuals\", \"18\": \"/World/scene_0/trumpet_87/base_link/dustParticle0\", \"19\": \"/World/scene_0/trumpet_87/base_link/dustParticle1\", \"20\": \"/World/scene_0/trumpet_87/base_link/dustParticle2\", \"21\": \"/World/scene_0/trumpet_87/base_link/dustParticle3\", \"22\": \"/World/scene_0/trumpet_87/base_link/dustParticle4\", \"23\": \"/World/scene_0/trumpet_87/base_link/dustParticle5\", \"24\": \"/World/scene_0/trumpet_87/base_link/dustParticle6\", \"25\": \"/World/scene_0/trumpet_87/base_link/dustParticle7\", \"26\": \"/World/scene_0/trumpet_87/base_link/dustParticle8\", \"27\": \"/World/scene_0/trumpet_87/base_link/dustParticle9\", \"28\": \"/World/scene_0/trumpet_87/base_link/dustParticle10\", \"29\": \"/World/scene_0/trumpet_87/base_link/dustParticle11\", \"30\": \"/World/scene_0/trumpet_87/base_link/dustParticle12\", \"31\": \"/World/scene_0/trumpet_87/base_link/dustParticle13\", \"32\": \"/World/scene_0/trumpet_87/base_link/dustParticle14\", \"33\": \"/World/scene_0/trumpet_87/base_link/dustParticle15\", \"34\": \"/World/scene_0/trumpet_87/base_link/dustParticle16\", \"35\": \"/World/scene_0/trumpet_87/base_link/dustParticle17\", \"36\": \"/World/scene_0/trumpet_87/base_link/dustParticle18\", \"37\": \"/World/scene_0/trumpet_87/base_link/dustParticle19\", \"38\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"39\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"40\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"41\": \"/World/scene_0/controllable__r1pro__robot_r1/right_realsense_link/visuals\", \"42\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"43\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1/visuals\", \"44\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link/visuals\", \"45\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link7/visuals\", \"46\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link6/visuals\", \"47\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5/visuals\", \"48\": \"/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4/visuals\", \"49\": \"/World/scene_0/table_lamp_wbcgev_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"50\": \"/World/scene_0/downlight_fisfbn_6/base_link/visuals\", \"51\": \"/World/scene_0/table_lamp_wbcgev_0/base_link/visuals\", \"52\": \"/World/scene_0/bookcase_opryhp_1/base_link/visuals\", \"53\": \"/World/scene_0/ceilings_mbrukp_0/base_link/visuals\", \"54\": \"/World/scene_0/door_pxhbim_0/leaf/visuals\", \"55\": \"/World/scene_0/door_pxhbim_0/base_link/visuals\", \"56\": \"/World/scene_0/fixed_window_etjpqr_3/glass/visuals\", \"57\": \"/World/scene_0/fixed_window_etjpqr_3/base_link/visuals\", \"58\": \"/World/scene_0/folderal_ydrlth_0/base_link/visuals\", \"59\": \"/World/scene_0/picture_hyjqxp_0/base_link/visuals\", \"60\": \"/World/scene_0/railing_pqzbbb_0/base_link/visuals\", \"61\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2/visuals\", \"62\": \"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3/visuals\", \"63\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_link/visuals\", \"64\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2/visuals\", \"65\": \"/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1/visuals\", \"66\": \"/World/scene_0/downlight_fisfbn_4/base_link/visuals\", \"67\": \"/World/scene_0/bookcase_eckdny_0/base_link/visuals\", \"68\": \"/World/scene_0/swivel_chair_iiihwn_0/base_link/visuals\", \"69\": \"/World/scene_0/bed_klcjcy_0/base_link/visuals\", \"70\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer2/visuals\", \"71\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer1/visuals\", \"72\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/drawer0/visuals\", \"73\": \"/World/scene_0/bottom_cabinet_no_top_ncgmqr_0/base_link/visuals\", \"74\": \"/World/scene_0/door_pxhbim_1/leaf/visuals\", \"75\": \"/World/scene_0/door_pxhbim_1/base_link/visuals\", \"76\": \"/World/scene_0/painting_eexydp_0/base_link/visuals\", \"77\": \"/World/scene_0/picture_bzmdxc_0/base_link/visuals\", \"78\": \"/World/scene_0/picture_vezfau_0/base_link/visuals\", \"79\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"80\": \"/World/scene_0/wall_mounted_tv_sodbbr_0/base_link/visuals\", \"81\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_base_link/visuals\", \"82\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3/visuals\", \"83\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7/visuals\", \"84\": \"/World/scene_0/controllable__r1pro__robot_r1/left_arm_link5/visuals\", \"85\": 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+}
\ No newline at end of file
diff --git a/meta/sim/episode_00000297.json b/meta/sim/episode_00000297.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d8b2df912a45eabf670f486e34b613871fd180
--- /dev/null
+++ b/meta/sim/episode_00000297.json
@@ -0,0 +1,249 @@
+{
+    "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_upper_task_clean_a_trumpet_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"cornet.n.01_1\": \"trumpet_87\", \"desk.n.01_1\": \"desk_aduafr_0\", \"dust.n.01_1\": \"dust\", \"floor.n.01_1\": \"floors_nlswvt_0\", \"scrub_brush.n.01_1\": \"scrub_brush_86\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": 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0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 1,\n                            \"dust\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"trumpet_87\": {\n                    \"is_asleep\": true,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.129143714904785,\n                            -0.04543597996234894,\n                            0.8415219783782959\n                     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\"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_nddvba_0\",\n                                \"category\": \"bottom_cabinet\",\n                                \"model\": \"nddvba\",\n                                \"scale\": [\n                                    0.919100284576416,\n                                    1.7930281162261963,\n                                    1.75520658493042\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"9f1fd18bd922a604c2790a5372af7d07\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\"\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n   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          \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    0.9933567047119141,\n                                    0.9989626407623291,\n                                    1.3310413360595703\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"b27b81835bd1bcc3a92976511bb16086\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_strbnw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\"\n                            }\n                        },\n                        \"electric_switch_strbnw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_strbnw_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"strbnw\",\n                                \"scale\": [\n                                    1.0014913082122803,\n                                    0.9996373653411865,\n                                    0.9999880194664001\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_lhzwtz_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_lhzwtz_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"lhzwtz\",\n                                \"scale\": [\n                                    1.0003936290740967,\n                                    0.9999641180038452,\n                                    0.9999814033508301\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\"\n                            }\n                        },\n                        \"fixed_window_lhzwtz_3\": {\n                            \"class_module\": 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0.9999985694885254,\n                                    1.0000264644622803\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"1211f5e4d7b069b49416e4beeb21520e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qhcqdn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qhcqdn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qhcqdn\",\n 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\"expected_file_hash\": \"144068a6c1528995cc5f23d88cf0a87e\"\n                            }\n                        },\n                        \"desk_uqcmzf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"desk_uqcmzf_0\",\n                                \"category\": \"desk\",\n                                \"model\": \"uqcmzf\",\n                                \"scale\": [\n                                    1.0000251531600952,\n                                    1.0000274181365967,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"153d94789db39e2f3de4e80a17dc5e9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_0\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\"\n                            }\n                        },\n                        \"door_pxhbim_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_1\",\n                                \"category\": \"door\",\n                                \"model\": \"pxhbim\",\n                                \"scale\": [\n                                    1.0002673864364624,\n                                    0.9999572038650513,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\",\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_pxhbim_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_pxhbim_2\",\n                                \"category\": \"door\",\n             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                           \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_1\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"downlight_vlplia_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_vlplia_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"vlplia\",\n                                \"scale\": [\n                                    1.0002226829528809,\n                                    1.0000925064086914,\n                                    1.0001240968704224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"28eb1212c1499fc70b32a0484f7a5a2a\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": 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    \"name\": \"fixed_window_etjpqr_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\"\n                            }\n                        },\n                        \"fixed_window_etjpqr_2\": {\n                            \"class_module\": 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                       }\n                        },\n                        \"fixed_window_etjpqr_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_3\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_etjpqr_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_etjpqr_4\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"etjpqr\",\n                                \"scale\": [\n                                    0.9994935393333435,\n                                    1.0000231266021729,\n                                    0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": 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0.9999651908874512\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"eba42e89ae01844ccc4d88152e529e04\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_dcxicr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_dcxicr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"dcxicr\",\n                                \"scale\": [\n                                    1.0000115633010864,\n                                    0.9999899864196777,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"97dc50b0017ae58e0aef9c6f97ace60d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_nlswvt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_nlswvt_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"nlswvt\",\n                                \"scale\": [\n                                    1.0000108480453491,\n                                    1.0000033378601074,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"8a9652e7477168e027d81e3c227e6ec0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_rfqizg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_rfqizg_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"rfqizg\",\n                                \"scale\": [\n                                    0.9999974966049194,\n                                    1.0000001192092896,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"880bf25fa6d113fa88ba038d7d3651cd\"\n                            }\n                        },\n                        \"floors_tfuahz_0\": {\n                            \"class_module\": 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                 ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0e7ad3883512e4e419a7b205bd09517f\"\n                            }\n                        },\n                        \"picture_nxqoed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nxqoed_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nxqoed\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"f5ec6d72ecca19eee49a14044e8f73ae\"\n                            }\n                        },\n                        \"picture_nzctlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_nzctlq_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"nzctlq\",\n                                \"scale\": [\n                                    0.9998580813407898,\n                                    0.9999564290046692,\n                                    0.9999911785125732\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"e96c4c5e8bb5a569072f3d567a3c42de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_rypaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_rypaxo_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"rypaxo\",\n                                \"scale\": [\n               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\"category\": \"picture\",\n                                \"model\": \"svpzro\",\n                                \"scale\": [\n                                    0.9995415210723877,\n                                    1.0002294778823853,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"0409f497673e3ad5ca40950258ac0081\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_trqgni_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_trqgni_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"trqgni\",\n                                \"scale\": [\n                                    0.9999762177467346,\n                                    1.0000498294830322,\n                                    1.0017832517623901\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"287d93c269e0befd0eeb7962757e7974\"\n                            }\n                        },\n                        \"picture_ttwhjj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_ttwhjj_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"ttwhjj\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.999886155128479,\n                                    1.0023601055145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"1c906d76145f82cf90f62a7a97d1fe2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_vezfau_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_vezfau_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"vezfau\",\n                                \"scale\": [\n                                    0.9998895525932312,\n                                    1.0000633001327515,\n                                    1.0023577213287354\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"7de95d813dfaa2a60d46c24c60b38cb1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_xnuynn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_xnuynn_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"xnuynn\",\n                                \"scale\": [\n                                    1.0000395774841309,\n                                    1.0000495910644531,\n                                    0.9983996152877808\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9b133296d8d2faa89aab2552779b30a3\"\n                            }\n                        },\n                        \"picture_yrkfct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_yrkfct_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"yrkfct\",\n                                \"scale\": [\n                                    0.9999779462814331,\n                                    0.9999926686286926,\n                                    0.9999897480010986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"dd0b1e4703a91719ba8c3e8462ede79c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_0\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_1\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"railing_pqzbbb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_2\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"railing_pqzbbb_3\": {\n                            \"class_module\": 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         }\n                        },\n                        \"railing_pqzbbb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"railing_pqzbbb_4\",\n                                \"category\": \"railing\",\n                                \"model\": \"pqzbbb\",\n                                \"scale\": [\n                                    0.9999876618385315,\n                                    1.0000152587890625,\n                                    0.9999931454658508\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"6c15d48fa1fc0f5e8f0ed695c2f1c774\"\n                            }\n                        },\n                        \"room_divider_bydmct_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_divider_bydmct_0\",\n                                \"category\": \"room_divider\",\n                                \"model\": \"bydmct\",\n                                \"scale\": [\n                                    1.000349521636963,\n                                    1.0000001192092896,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"expected_file_hash\": \"c2ab540ab656cc528e9a08864c82d18c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                                    0.9999921917915344,\n                                    1.0006431341171265\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_1\"\n                                ],\n                                \"expected_file_hash\": \"3e4df9192e7a16f69dc7d77b552ed1da\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_sapyzl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_sapyzl_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"sapyzl\",\n                                \"scale\": [\n                                    1.0002144575119019,\n                      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           ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hddwcd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hddwcd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hddwcd\",\n                                \"scale\": [\n                                    0.9998137354850769,\n                                    1.0000065565109253,\n                               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1.000003695487976,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c8b2739a42f0d4b7679101b615e30ea1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ldoefg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ldoefg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ldoefg\",\n                                \"scale\": [\n                                    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\"scale\": [\n                                    0.9999897480010986,\n                                    1.0002497434616089,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oglchp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oglchp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oglchp\",\n                                \"scale\": [\n                                    1.000198245048523,\n                                    1.0000457763671875,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rscyjh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rscyjh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rscyjh\",\n                                \"scale\": [\n                                    1.0002321004867554,\n                                    0.9999890923500061,\n                                    1.0000176429748535\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_slooel_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                    \"name\": \"walls_vastci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vastci\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    1.0000052452087402,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjblrc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjblrc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjblrc\",\n                                \"scale\": [\n                                    0.9999986886978149,\n                                    0.9999366402626038,\n                                    1.0000174045562744\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ynhwyn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                         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\"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_pxhbim_1\",\n                    \"category\": \"door\",\n                    \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_pxhbim_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                 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                \"model\": \"pxhbim\",\n                    \"scale\": [\n                        1.0002673864364624,\n                        0.9999572038650513,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_etjpqr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_etjpqr_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"etjpqr\",\n                  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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_tfuahz_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"tfuahz\",\n                    \"scale\": [\n                        1.0000072717666626,\n                        1.0000156164169312,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"bfbf01ba22f84d979a42402b1b77b690\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_zrhxwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_zrhxwn_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"zrhxwn\",\n                    \"scale\": [\n                        1.0000113248825073,\n                        0.9999984502792358,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_1\"\n                    ],\n                    \"expected_file_hash\": \"2be9737c21b2365b11b6601870471e18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"folderal_ydrlth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"folderal_ydrlth_0\",\n                    \"category\": \"folderal\",\n                 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0.9999114871025085,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"33b7b78cdfc50191ed893a86ecf2dd33\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"map_hsbtqi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"map_hsbtqi_0\",\n                    \"category\": \"map\",\n                    \"model\": \"hsbtqi\",\n                    \"scale\": [\n                        0.9997706413269043,\n                        0.9998932480812073,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"93336787b4b0820bc26c6eb76eb77a83\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_eexydp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_eexydp_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"eexydp\",\n                    \"scale\": [\n                        1.0030890703201294,\n                        0.9999678134918213,\n                        1.0000113248825073\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n             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\"args\": {\n                    \"name\": \"walls_boflea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"boflea\",\n                    \"scale\": [\n                        1.000002145767212,\n                        0.9999855160713196,\n                        1.0000048875808716\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"42162b735669e99966336e6a03293a9c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_eguptx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_eguptx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"eguptx\",\n                    \"scale\": [\n                        1.000280499458313,\n                        0.9999999403953552,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad0355ea91688c7879d781df95658600\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hddwcd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hddwcd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hddwcd\",\n                    \"scale\": [\n                        0.9998137354850769,\n                        1.0000065565109253,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e5d9ea9129c0bc2e65c0b96c231af89e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jpdrrk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jpdrrk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jpdrrk\",\n                    \"scale\": [\n                        0.9998674392700195,\n                        1.000003695487976,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lempwq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lempwq\",\n                    \"scale\": [\n                        0.9999897480010986,\n                        1.0002497434616089,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"85502953b80fe9911f97e92466b24cb6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oglchp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oglchp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oglchp\",\n                    \"scale\": [\n                        1.000198245048523,\n                        1.0000457763671875,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b649e89db1fbbcbfd0cd18cccec01253\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rscyjh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rscyjh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rscyjh\",\n                    \"scale\": [\n                        1.0002321004867554,\n                        0.9999890923500061,\n                        1.0000176429748535\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8abe685b4e6eba279d0c723fa46d6231\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_slooel_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_slooel_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"slooel\",\n                    \"scale\": [\n                        1.000002145767212,\n                        1.0,\n                        1.0000054836273193\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c7af74850abc96535f260efe51cdb25f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vastci_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vastci_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vastci\",\n                    \"scale\": [\n                        1.0001400709152222,\n                        1.0000052452087402,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a4abc8e6f566322413c80910404ca778\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjblrc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjblrc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjblrc\",\n                    \"scale\": [\n                        0.9999986886978149,\n                        0.9999366402626038,\n                        1.0000174045562744\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e05dbb17b813339cb9c446fafec321d6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ynhwyn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n         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],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7305b5e2d12fbda52b9c8bc7ce97848f\"\n                }\n            },\n            \"trumpet_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"trumpet_87\",\n                    \"category\": \"trumpet\",\n                    \"model\": \"bafgow\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_0\"\n                    ],\n                    \"expected_file_hash\": \"ef6329adf2182fd06aa2ae5111ad5f7b\"\n                }\n            },\n            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\"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": 2925,
+    "num_samples": 2925,
+    "robot_type": "R1Pro",
+    "task_obs_keys": [
+        "agent.n.01_1_real",
+        "agent.n.01_1_pos",
+        "agent.n.01_1_ori_cos",
+        "agent.n.01_1_ori_sin",
+        "cornet.n.01_1_real",
+        "cornet.n.01_1_pos",
+        "cornet.n.01_1_ori_cos",
+        "cornet.n.01_1_ori_sin",
+        "cornet.n.01_1_in_gripper_left",
+        "cornet.n.01_1_in_gripper_right",
+        "scrub_brush.n.01_1_real",
+        "scrub_brush.n.01_1_pos",
+        "scrub_brush.n.01_1_ori_cos",
+        "scrub_brush.n.01_1_ori_sin",
+        "scrub_brush.n.01_1_in_gripper_left",
+        "scrub_brush.n.01_1_in_gripper_right",
+        "desk.n.01_1_real",
+        "desk.n.01_1_pos",
+        "desk.n.01_1_ori_cos",
+        "desk.n.01_1_ori_sin",
+        "desk.n.01_1_in_gripper_left",
+        "desk.n.01_1_in_gripper_right",
+        "floor.n.01_1_real",
+        "floor.n.01_1_pos",
+        "floor.n.01_1_ori_cos",
+        "floor.n.01_1_ori_sin",
+        "floor.n.01_1_in_gripper_left",
+        "floor.n.01_1_in_gripper_right"
+    ],
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