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        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
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          "fixed_base": true,
          "visual_only": false,
          "in_rooms": [
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          "bddl_object_scope": null,
          "expected_file_hash": "fa61cf578874e25ab4d82f60beb30e53"
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      },
      "robot_dpmmgf": {
        "class_module": "omnigibson.robots.franka",
        "class_name": "FrankaPanda",
        "args": {
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          "fixed_base": true,
          "controller_config": {
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              "name": "OperationalSpaceController"
            },
            "gripper_0": {
              "name": "MultiFingerGripperController"
            }
          },
          "action_type": "continuous",
          "action_normalize": true,
          "obs_modalities": [
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          ],
          "expected_file_hash": "131035e91529052c7719bc5dc33947a4"
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      },
      "bowl_151": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
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          "category": "bowl",
          "model": "xplzbo",
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      },
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        "class_name": "DatasetObject",
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          "expected_file_hash": "88cf48c6f4c29327e31f120fcdca7ac4",
          "scale": [
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      },
      "bowl_153": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
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          "expected_file_hash": "88cf48c6f4c29327e31f120fcdca7ac4",
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        }
      },
      "bowl_154": {
        "class_module": "omnigibson.objects.dataset_object",
        "class_name": "DatasetObject",
        "args": {
          "name": "bowl_154",
          "category": "bowl",
          "model": "xplzbo",
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          "expected_file_hash": "88cf48c6f4c29327e31f120fcdca7ac4",
          "scale": [
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        }
      },
      "goal_region__bowl_154": {
        "class_module": "omnigibson.objects.primitive_object",
        "class_name": "PrimitiveObject",
        "args": {
          "name": "goal_region__bowl_154",
          "primitive_type": "Sphere",
          "relative_prim_path": "/goal_region__bowl_154",
          "category": "goal_region_marker",
          "fixed_base": true,
          "visual_only": true,
          "rgba": [
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    }
  }
}