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\"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"self_collisions\": true, \"obs_modalities\": [\"proprio\"], \"position\": [3.264801025390625, -1.6968994140625, 0.0050048828125], \"orientation\": [0.0003106363001279533, -0.0008664365741424263, -0.950154185295105, 0.3117790222167969], \"grasping_mode\": \"assisted\", \"sensor_config\": {\"VisionSensor\": {\"modalities\": [\"rgb\", \"depth_linear\", \"seg_semantic\", \"seg_instance_id\"], \"sensor_kwargs\": {\"image_height\": 480, \"image_width\": 480}}}, \"reset_joint_pos\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806, 0.05000000074505806], \"include_sensor_names\": null, \"exclude_sensor_names\": null, \"proprio_obs\": [\"joint_qpos\", \"joint_qpos_sin\", \"joint_qpos_cos\", \"joint_qvel\", \"joint_qeffort\", \"robot_pos\", \"robot_ori_cos\", \"robot_ori_sin\", \"robot_2d_ori\", \"robot_2d_ori_cos\", \"robot_2d_ori_sin\", \"robot_lin_vel\", \"robot_ang_vel\", \"arm_left_qpos\", \"arm_left_qpos_sin\", \"arm_left_qpos_cos\", \"arm_left_qvel\", \"eef_left_pos\", \"eef_left_quat\", \"grasp_left\", \"gripper_left_qpos\", \"gripper_left_qvel\", \"arm_right_qpos\", \"arm_right_qpos_sin\", \"arm_right_qpos_cos\", \"arm_right_qvel\", \"eef_right_pos\", \"eef_right_quat\", \"grasp_right\", \"gripper_right_qpos\", \"gripper_right_qvel\", \"trunk_qpos\", \"trunk_qvel\", \"base_qpos\", \"base_qpos_sin\", \"base_qpos_cos\", \"base_qvel\"]}], \"objects\": [], \"task\": {\"type\": \"BehaviorTask\", \"activity_name\": \"getting_organized_for_work\", \"activity_definition_id\": 0, \"activity_instance_id\": 0, \"predefined_problem\": null, \"online_object_sampling\": false, \"debug_object_sampling\": false, \"highlight_task_relevant_objects\": false, \"termination_config\": {\"max_steps\": 50000}, \"reward_config\": {\"r_potential\": 1.0}, \"include_obs\": true}, \"wrapper\": {\"type\": null}}",
    "scene_file": "{\n    \"versions\": {\n        \"omnigibson\": {\n            \"version\": \"3.7.0-alpha\",\n            \"git_hash\": \"5ccbb6c6f83cc8219c563f792f72ab55c5e68e2c\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"5ccbb6c6f83cc8219c563f792f72ab55c5e68e2c\"\n        },\n        \"og_dataset\": {\n            \"version\": \"3.7.0rc22\"\n        },\n        \"assets\": {\n            \"version\": null,\n            \"git_hash\": \"edec88373641efb1afc2feacea287bd31a51f16a\"\n        }\n    },\n    \"metadata\": {\n        \"task\": {\n            \"inst_to_name\": {\n                \"agent.n.01_1\": \"robot_r1\",\n                \"computer.n.01_1\": \"desktop_computer_87\",\n                \"desk.n.01_1\": \"desk_uqcmzf_0\",\n                \"floor.n.01_1\": \"floors_dcxicr_0\",\n                \"folder.n.02_1\": \"folder_88\",\n                \"keyboard.n.01_1\": \"keyboard_91\",\n                \"monitor.n.04_1\": \"monitor_86\",\n                \"mouse.n.04_1\": \"mouse_92\",\n                \"notebook.n.01_1\": \"notebook_90\",\n                \"pen.n.01_1\": \"pen_89\",\n                \"swivel_chair.n.01_1\": \"swivel_chair_iiihwn_0\"\n            }\n        }\n    },\n    \"state\": {\n        \"pos\": [\n            0.0,\n            0.0,\n            0.0\n        ],\n        \"ori\": [\n            0.0,\n            0.0,\n            0.0,\n            1.0\n        ],\n        \"registry\": {\n            \"system_registry\": {},\n            \"object_registry\": {\n                \"bottom_cabinet_nddvba_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.532853126525879,\n                            -4.555397987365723,\n                            0.3671515882015228\n                        ],\n                        \"ori\": [\n                            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0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"downlight_fisfbn_6\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.477394104003906,\n                            -1.7681576013565063,\n                            2.4632391929626465\n                        ],\n                        \"ori\": [\n                            -1.0913936421275139e-10,\n                            -1.1399947652535047e-10,\n                            0.7071070075035095,\n                            0.7071067690849304\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n        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\"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"fixed_window_lhzwtz_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.583202362060547,\n                            -1.350947380065918,\n                            1.1077909469604492\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"fixed_window_lhzwtz_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.39258337020874,\n                            0.7454789876937866,\n                            1.107787013053894\n                        ],\n                        \"ori\": [\n                            -5.197228992927672e-15,\n                            6.883938397095335e-08,\n                            1.0,\n                            -7.549790126404332e-08\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"fixed_window_lhzwtz_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.583202362060547,\n                            0.5852675437927246,\n                            1.1077910661697388\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bookcase_eckdny_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.60115647315979,\n                            -3.6889030933380127,\n                            1.5160777568817139\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"door_dlncrt_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            2.136253595352173,\n                            2.8556718826293945,\n                            1.0276660919189453\n                        ],\n                        \"ori\": [\n                            -0.0004311704251449555,\n                            -0.0004503550590015948,\n                            0.7264786958694458,\n                            0.6871886849403381\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_pevmgl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.3618602752685547,\n                            3.7988569736480713,\n                            0.8276898264884949\n                        ],\n                        \"ori\": [\n                            -5.075669469079003e-05,\n                            -5.080064875073731e-05,\n                            -0.013736603781580925,\n                            0.9999057054519653\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"floor_lamp_mqfdjk_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -2.826103448867798,\n                            1.8580875396728516,\n                            0.45078039169311523\n                        ],\n                        \"ori\": [\n                            0.0016371669480577111,\n                            0.006298944819718599,\n                            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1.0125958919525146\n                        ],\n                        \"ori\": [\n                            0.0004407241940498352,\n                            -1.2884440366178751e-05,\n                            0.997609555721283,\n                            0.06910313665866852\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"nightstand_aykehx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -5.925105571746826,\n                            2.1116549968719482,\n                            0.21136310696601868\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.000000238418579\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"nightstand_roxnbe_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            5.924282550811768,\n                            3.7766599655151367,\n                            0.41129299998283386\n                        ],\n                        \"ori\": [\n                            -3.577442839741707e-07,\n                            4.0607292817185225e-07,\n                            0.7071077227592468,\n                            -0.7071059942245483\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"nightstand_roxnbe_1\": {\n                    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  ],\n                                \"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                                    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            \"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                 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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\": \"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                                    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     \"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                                    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_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\": 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\"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           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],\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\": \"furniture_sink_ojjqku_0\",\n                                \"category\": \"furniture_sink\",\n                                \"model\": \"ojjqku\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000003576278687,\n                                    0.9999823570251465\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0df1c90ac8a3945852ebb5a3eb0124cb\"\n                            }\n                        },\n                        \"map_fdtxut_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"map_fdtxut_0\",\n                                \"category\": \"map\",\n                                \"model\": \"fdtxut\",\n                                \"scale\": [\n                                    0.9997681379318237,\n                                    0.9999114871025085,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"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                        \"mirror_ovdinr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ovdinr_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ovdinr\",\n                                \"scale\": [\n                                    0.9987460374832153,\n                                    1.0000121593475342,\n                                    1.0000134706497192\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"0cf318907266e52e1e5642988728be7a\"\n                            }\n                        },\n                        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                          \"bddl_object_scope\": null\n                            }\n                        },\n                        \"painting_jfkvxh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"painting_jfkvxh_0\",\n                                \"category\": \"painting\",\n                                \"model\": \"jfkvxh\",\n                                \"scale\": [\n                                    1.001561164855957,\n                                    0.9999836683273315,\n                                    1.0000487565994263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_2\"\n                                ],\n                                \"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                 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\"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  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              \"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   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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\": \"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    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                    \"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        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                            \"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                                    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                        \"shower_giialz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_giialz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"giialz\",\n                                \"scale\": [\n                                    1.0000324249267578,\n                                    0.9999755620956421,\n                                    1.0006901025772095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"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\": \"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\": 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          \"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\": 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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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},\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         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\"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\": 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\"args\": {\n                    \"name\": \"ceilings_srlfnq_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"srlfnq\",\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_1\"\n                    ],\n                    \"expected_file_hash\": \"65c6450aa891be16dba6c48bed80d516\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"desk_aduafr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"desk_aduafr_0\",\n                    \"category\": \"desk\",\n          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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"bathroom_1\"\n                    ],\n                    \"expected_file_hash\": \"99bd216f0165e63cd5837339e8f7e924\",\n                    \"bddl_object_scope\": null\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                    \"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              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\"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      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\"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            \"monitor_86\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"monitor_86\",\n                    \"category\": \"monitor\",\n                    \"model\": \"qvpbge\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"e56cffe38a719ac633ccbb114d1d1b6e\"\n                }\n            },\n            \"desktop_computer_87\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"desktop_computer_87\",\n                    \"category\": \"desktop_computer\",\n                    \"model\": \"eantds\",\n                    \"scale\": [\n                        0.7999999523162842,\n                        0.7999999523162842,\n                        0.7999999523162842\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"19127bb7e6df235906b52d8691c4f708\"\n                }\n            },\n            \"folder_88\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"folder_88\",\n                    \"category\": \"folder\",\n                    \"model\": \"guhatz\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"6eda5cddc5a3cf976508594cd8c61e18\"\n                }\n            },\n            \"pen_89\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"pen_89\",\n                    \"category\": \"pen\",\n                    \"model\": \"enfumt\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"5377a739cff3b53511379e064a3f2355\"\n                }\n            },\n            \"notebook_90\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"notebook_90\",\n                    \"category\": \"notebook\",\n                    \"model\": \"eijrqw\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"6b5c8f11e07866751c9e954fff513042\"\n                }\n            },\n            \"keyboard_91\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"keyboard_91\",\n                    \"category\": \"keyboard\",\n                    \"model\": \"injrgc\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"d8724a3a3837d95008540039beee7d47\"\n                }\n            },\n            \"mouse_92\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"mouse_92\",\n                    \"category\": \"mouse\",\n                    \"model\": \"oydobn\",\n                    \"scale\": [\n                        2.8939390182495117,\n                        3.061781883239746,\n                        2.6600661277770996\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"bedroom_2\"\n                    ],\n                    \"expected_file_hash\": \"2b5ec736b4a103bbd5cd369027391dd0\"\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": 14867,
    "num_samples": 14867,
    "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",
        "mouse.n.04_1_real",
        "mouse.n.04_1_pos",
        "mouse.n.04_1_ori_cos",
        "mouse.n.04_1_ori_sin",
        "mouse.n.04_1_in_gripper_left",
        "mouse.n.04_1_in_gripper_right",
        "swivel_chair.n.01_1_real",
        "swivel_chair.n.01_1_pos",
        "swivel_chair.n.01_1_ori_cos",
        "swivel_chair.n.01_1_ori_sin",
        "swivel_chair.n.01_1_in_gripper_left",
        "swivel_chair.n.01_1_in_gripper_right",
        "keyboard.n.01_1_real",
        "keyboard.n.01_1_pos",
        "keyboard.n.01_1_ori_cos",
        "keyboard.n.01_1_ori_sin",
        "keyboard.n.01_1_in_gripper_left",
        "keyboard.n.01_1_in_gripper_right",
        "notebook.n.01_1_real",
        "notebook.n.01_1_pos",
        "notebook.n.01_1_ori_cos",
        "notebook.n.01_1_ori_sin",
        "notebook.n.01_1_in_gripper_left",
        "notebook.n.01_1_in_gripper_right",
        "pen.n.01_1_real",
        "pen.n.01_1_pos",
        "pen.n.01_1_ori_cos",
        "pen.n.01_1_ori_sin",
        "pen.n.01_1_in_gripper_left",
        "pen.n.01_1_in_gripper_right",
        "folder.n.02_1_real",
        "folder.n.02_1_pos",
        "folder.n.02_1_ori_cos",
        "folder.n.02_1_ori_sin",
        "folder.n.02_1_in_gripper_left",
        "folder.n.02_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",
        "computer.n.01_1_real",
        "computer.n.01_1_pos",
        "computer.n.01_1_ori_cos",
        "computer.n.01_1_ori_sin",
        "computer.n.01_1_in_gripper_left",
        "computer.n.01_1_in_gripper_right",
        "monitor.n.04_1_real",
        "monitor.n.04_1_pos",
        "monitor.n.04_1_ori_cos",
        "monitor.n.04_1_ori_sin",
        "monitor.n.04_1_in_gripper_left",
        "monitor.n.04_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/mouse_92/base_link/visuals\", \"4\": \"/World/scene_0/keyboard_91/base_link/visuals\", \"5\": \"/World/scene_0/notebook_90/base_link/visuals\", \"6\": \"/World/scene_0/pen_89/base_link/visuals\", \"7\": \"/World/scene_0/folder_88/base_link/visuals\", \"8\": \"/World/scene_0/desktop_computer_87/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"9\": \"/World/scene_0/desktop_computer_87/base_link/visuals\", \"10\": \"/World/scene_0/monitor_86/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"11\": \"/World/scene_0/monitor_86/base_link/visuals\", \"12\": \"/World/scene_0/walls_zlekao_0/base_link/visuals\", \"13\": \"/World/scene_0/walls_ynhwyn_0/base_link/visuals\", \"14\": \"/World/scene_0/walls_wjblrc_0/base_link/visuals\", \"15\": \"/World/scene_0/walls_vastci_0/base_link/visuals\", \"16\": \"/World/scene_0/walls_slooel_0/base_link/visuals\", \"17\": \"/World/scene_0/walls_rscyjh_0/base_link/visuals\", \"18\": \"/World/scene_0/walls_oglchp_0/base_link/visuals\", \"19\": \"/World/scene_0/walls_lempwq_0/base_link/visuals\", \"20\": \"/World/scene_0/wall_socket_plssag_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_hddwcd_0/base_link/visuals\", \"22\": \"/World/scene_0/controllable__r1pro__robot_r1/right_eef_link/VisualSphere\", \"23\": \"/World/scene_0/controllable__r1pro__robot_r1/left_eef_link/VisualSphere\", \"24\": \"/World/scene_0/controllable__r1pro__robot_r1/zed_link/visuals\", \"25\": \"/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2/visuals\", \"26\": \"/World/scene_0/electric_switch_strbnw_1/meta__base_link_togglebutton_0_0_link/visuals/mesh_0\", \"27\": \"/World/scene_0/electric_switch_strbnw_1/base_link/visuals\", \"28\": \"/World/scene_0/fixed_window_lhzwtz_3/glass/visuals\", \"29\": 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