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{\"temperature\": 23.0}}}, \"popcorn_bag_73\": {\"is_asleep\": false, \"root_link\": {\"pos\": [7.508510589599609, -0.5097461342811584, 0.9761059880256653], \"ori\": [-0.0024605465587228537, 0.011396386660635471, 0.2331487238407135, 0.9723712205886841], \"lin_vel\": [0.0010437607998028398, 0.0006223063101060688, -4.3451687815831974e-05], \"ang_vel\": [-0.007592211477458477, 0.013813016936182976, 0.00012970936950296164]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"robot_r1\": {\"is_asleep\": false, \"root_link\": {\"pos\": [6.012054443359375, 2.59600830078125, 0.0050048828125], \"ori\": [-9.973091800929978e-05, 0.0009148307726718485, -0.2813110947608948, 0.9596161842346191], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-1.957441099875723e-06, 4.713385806098813e-06, -1.0065449714602437e-05, -0.0008043737034313381, -0.0006501121097244322, -1.8471280327503337e-06, 1.0250002145767212, -1.4499999284744263, -0.4699999690055847, 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{\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-6.258487246668665e-06, 1.3411043937594513e-06], [-2.319699342478998e-05, 6.225870311027393e-05], [-1.4064644346944988e-06, -2.1940240912954323e-07], [6.7055220824840944e-06, 1.3858079000783619e-05], [-1.4305113836599048e-05, -1.5199183508229908e-05]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_double_floor_lower\", \"load_room_types\": null, \"load_room_instances\": [\"corridor_0\", \"garden_0\", \"kitchen_0\", \"living_room_0\"], \"include_robots\": false}, \"robots\": [{\"type\": \"R1Pro\", \"name\": \"robot_r1\", \"action_normalize\": false, \"controller_config\": {\"arm_left\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"arm_right\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"gripper_left\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"gripper_right\": {\"name\": \"MultiFingerGripperController\", \"mode\": \"smooth\", \"command_input_limits\": \"default\", \"command_output_limits\": \"default\"}, \"base\": {\"name\": \"HolonomicBaseJointController\", \"motor_type\": \"velocity\", \"vel_kp\": 150, \"command_input_limits\": [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]], \"command_output_limits\": [[-0.75, -0.75, -1.0], [0.75, 0.75, 1.0]], \"use_impedances\": false}, \"trunk\": {\"name\": \"JointController\", \"motor_type\": \"position\", \"pos_kp\": 150, \"command_input_limits\": null, \"command_output_limits\": null, \"use_impedances\": false, \"use_delta_commands\": false}, \"camera\": {\"name\": \"NullJointController\"}}, \"self_collisions\": true, \"obs_modalities\": [\"proprio\"], \"position\": [6.012054443359375, 2.59600830078125, 0.0050048828125], \"orientation\": [-9.973093983717263e-05, 0.0009148308890871704, -0.28131112456321716, 0.9596161246299744], \"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\": \"make_microwave_popcorn\", \"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\": \"0d5b4d4e9705c90e3c0b7c905630585024a169ae\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"0d5b4d4e9705c90e3c0b7c905630585024a169ae\"\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                \"countertop.n.01_1\": \"bar_byvbuc_0\",\n                \"floor.n.01_1\": \"floors_zqjkvm_0\",\n                \"microwave.n.02_1\": \"microwave_hjjxmi_0\",\n                \"popcorn.n.02_1\": \"popcorn\",\n                \"popcorn__bag.n.01_1\": \"popcorn_bag_73\"\n            }\n        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0.9999979734420776\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_bexenl_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -3.886465072631836,\n                            2.3801634311676025,\n                            1.1881227493286133\n                        ],\n                        \"ori\": [\n                            6.518029067592579e-07,\n                            3.0848699680063874e-05,\n                            0.7104470133781433,\n                            -0.703750729560852\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n 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1.1729761362075806\n                        ],\n                        \"ori\": [\n                            0.0004575484781526029,\n                            -1.9995553884655237e-05,\n                            0.7107513546943665,\n                            0.7034432888031006\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_vudhlc_2\": {\n                    \"is_asleep\": false,\n     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0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\"\n                            }\n                        },\n                        \"bush_lfyqkj_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_6\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n              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\"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"3c6a214cdeb686e70120fa3115c65c97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"coffee_table_koagbh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_koagbh_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"koagbh\",\n                                \"scale\": [\n                                    0.9999982714653015,\n                                    1.0000159740447998,\n                                    1.000001311302185\n                               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                        \"name\": \"straight_chair_zdhnyg_0\",\n                                \"category\": \"straight_chair\",\n                                \"model\": \"zdhnyg\",\n                                \"scale\": [\n                                    1.0000176429748535,\n                                    0.9999879598617554,\n                                    0.9999611377716064\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"expected_file_hash\": \"a1e17c47ea4dd146449fbe05d7bc095a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bar_egwapq_0\": {\n                            \"class_module\": 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         \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"car_ssxsje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"car_ssxsje_0\",\n                                \"category\": \"car\",\n                                \"model\": \"ssxsje\",\n                                \"scale\": [\n                                    1.0000019073486328,\n                                    0.9999808073043823,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"9ce18e38beba075d38367f101c1a6b82\"\n                            }\n                        },\n                        \"ceilings_alydei_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_alydei_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"alydei\",\n                                \"scale\": [\n                                    0.999988853931427,\n                                    0.9999680519104004,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"86e365b8fb102d702c6505cd28459c6b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_aoekre_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_aoekre_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"aoekre\",\n                                \"scale\": [\n                                    0.9999804496765137,\n                                 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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"c7c5eb1d49930dbf60ae89ca35dd84b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_vudhlc_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_vudhlc_2\",\n                                \"category\": \"door\",\n                                \"model\": \"vudhlc\",\n                                \"scale\": [\n                        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    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_10\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_13\",\n                                \"category\": 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                    \"args\": {\n                                \"name\": \"downlight_pawfmw_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"downlight_pawfmw_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_7\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pawfmw_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pawfmw_9\",\n                                \"category\": \"downlight\",\n                                \"model\": \"pawfmw\",\n                                \"scale\": [\n                                    1.0000351667404175,\n                                    1.0000944137573242,\n                                    1.0005167722702026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_pxrmnt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_pxrmnt_0\",\n                                \"category\": \"downlight\",\n                                \"model\": 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                         \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"b4bd06ca5b7bdd7d9f9e1ef7df044cf3\"\n                            }\n                        },\n                        \"garden_light_qyfrwj_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"garden_light_qyfrwj_1\",\n                                \"category\": \"garden_light\",\n                                \"model\": \"qyfrwj\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n               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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"c2e724ef7133aacd92beaf2d153e70ad\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_qlkknu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_qlkknu_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"qlkknu\",\n                                \"scale\": [\n                                    0.9999873638153076,\n                                    1.0000169277191162,\n                                    0.9985789656639099\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"expected_file_hash\": \"8943f9338563a7db28b46f04a61e4252\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"picture_qlsyco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"picture_qlsyco_0\",\n                                \"category\": \"picture\",\n                                \"model\": \"qlsyco\",\n   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\"expected_file_hash\": \"3d327526d99d098755db635ed6ea2dca\"\n                            }\n                        },\n                        \"rail_fence_owbrvb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_0\",\n                                \"category\": \"rail_fence\",\n                                \"model\": \"owbrvb\",\n                                \"scale\": [\n                                    0.9999550580978394,\n                                    0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    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0.9999983310699463,\n                                    0.999997079372406\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null,\n                                \"expected_file_hash\": \"a7e2d4d5c8b270a694b7f5b54454787c\"\n                            }\n                        },\n                        \"rail_fence_owbrvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"rail_fence_owbrvb_3\",\n                                \"category\": \"rail_fence\",\n                                \"model\": 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\"in_rooms\": \"\",\n                                \"expected_file_hash\": \"16e85fae45365873f88aa2ba4e7e4acc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_eqbjaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_eqbjaz_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"eqbjaz\",\n                                \"scale\": [\n                                    0.9999228715896606,\n                                    0.9999228715896606,\n                                    1.0000250339508057\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"41b6772d0ee658d7f567c3aaf18fe00e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"room_light_kiuayi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"room_light_kiuayi_0\",\n                                \"category\": \"room_light\",\n                                \"model\": \"kiuayi\",\n                                \"scale\": [\n                                    0.999922513961792,\n                                    0.999922513961792,\n                             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                            \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"332ac54222e17e0377a4004614cf7790\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cvdpaq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cvdpaq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cvdpaq\",\n                                \"scale\": [\n                                    0.9999979734420776,\n                                    0.9999068975448608,\n                                    1.000015377998352\n                                ],\n              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\"model\": \"gishpf\",\n                                \"scale\": [\n                                    0.9998095035552979,\n                                    0.9999909996986389,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c972e073ef1ab690da74d37fd2dcb490\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hcbqvq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hcbqvq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hcbqvq\",\n                                \"scale\": [\n                                    0.9998935461044312,\n                                    0.9998812675476074,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4c223a0241e1c7e919f7514767a54b7a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jemunw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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},\n                        \"walls_lovfhw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lovfhw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lovfhw\",\n                                \"scale\": [\n                                    0.9998873472213745,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                                \"bddl_object_scope\": null\n         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       \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgvxov_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgvxov_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgvxov\",\n                                \"scale\": [\n                                    0.9998886585235596,\n                                    0.9998785257339478,\n                                    1.0000050067901611\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": 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               \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mwlvfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mwlvfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mwlvfb\",\n                                \"scale\": [\n                                    1.0000306367874146,\n                                    1.0001626014709473,\n                                    0.9999076128005981\n                                ],\n                                \"fixed_base\": true,\n                            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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oqrbxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oqrbxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oqrbxo\",\n                                \"scale\": [\n                                    1.000234842300415,\n                                    1.0000065565109253,\n                                    1.0000050067901611\n                       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]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_mwlvfb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        0.2233578860759735,\n                                        7.6935319900512695,\n                                        2.513519287109375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"walls_oiagxk_0\": {\n                  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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"11b517c3bfca9a656242c5a4639ef9b5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_kyghri_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_kyghri_7\",\n                    \"category\": \"bush\",\n                    \"model\": \"kyghri\",\n                    \"scale\": [\n                        0.5210912227630615,\n                        0.5210831165313721,\n                        0.5210502743721008\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                      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                \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_1\": {\n             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  \"args\": {\n                    \"name\": \"bush_lfyqkj_2\",\n                    \"category\": \"bush\",\n                    \"model\": \"lfyqkj\",\n                    \"scale\": [\n                        1.0000290870666504,\n                        0.9999884963035583,\n                        1.0000216960906982\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"7b34166d6f969fb1895d1fe3a2c1d560\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_lfyqkj_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_lfyqkj_3\",\n                    \"category\": \"bush\",\n                 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                \"bddl_object_scope\": null\n                }\n            },\n            \"bush_oedeqi_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_oedeqi_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"oedeqi\",\n                    \"scale\": [\n                        0.5401318669319153,\n                        0.5401249527931213,\n                        0.5401372313499451\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"a82a770d6190d760516639e5b0aece2f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_oedeqi_2\": {\n             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                   ],\n                    \"expected_file_hash\": \"5bd0269bbebe6f74f669cf89d2b24340\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_0\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bush_yhjhta_1\",\n                    \"category\": \"bush\",\n                    \"model\": \"yhjhta\",\n                    \"scale\": [\n                        0.5133029222488403,\n                        0.5133182406425476,\n                        0.5133031606674194\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"941005ad0c8f4c879e196420ba3000b0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bush_yhjhta_2\": {\n                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\"args\": {\n                    \"name\": \"tree_rrhqpw_3\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_4\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        0.613919198513031,\n                        0.6139238476753235\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"20bdea452dc69903e10b86b35e9acd82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_rrhqpw_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_rrhqpw_5\",\n                    \"category\": \"tree\",\n                    \"model\": \"rrhqpw\",\n                    \"scale\": [\n                        0.6139122843742371,\n                        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0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"tree_wtyipq_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tree_wtyipq_8\",\n                    \"category\": \"tree\",\n                    \"model\": \"wtyipq\",\n                    \"scale\": [\n                        0.5642488598823547,\n                        0.564253032207489,\n                        0.564262866973877\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5868d78ff6cb31ec3d9e08f27765c95c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"wall_nail_wlnail_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"wall_nail_wlnail_1\",\n                    \"category\": \"wall_nail\",\n                    \"model\": \"wlnail\",\n                    \"scale\": [\n                        2.438278913497925,\n                        2.4331214427948,\n                        2.437626838684082\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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\"d797382fdee0780cf9e7cf822d7bc824\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bar_byvbuc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bar_byvbuc_0\",\n                    \"category\": \"bar\",\n                    \"model\": \"byvbuc\",\n                    \"scale\": [\n                        0.9999271035194397,\n                        1.0000065565109253,\n                        1.0000300407409668\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"095d92fea41b6b33cbb3070538a28b5a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"burner_mdanhg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"burner_mdanhg_0\",\n                    \"category\": \"burner\",\n                    \"model\": \"mdanhg\",\n                    \"scale\": [\n                        1.00006902217865,\n                        1.000030517578125,\n                        0.9988557696342468\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"f85e9a7f5de5b91e25341137a775c302\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"shelf_vanltx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_vanltx_0\",\n                    \"category\": \"shelf\",\n                    \"model\": \"vanltx\",\n                    \"scale\": [\n                        0.999862790107727,\n                        0.9999753832817078,\n                        0.9999756217002869\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"647e7dbd099d323784d0490abfae4eac\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"breakfast_table_xftrki_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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      \"model\": \"koagbh\",\n                    \"scale\": [\n                        0.9999982714653015,\n                        1.0000159740447998,\n                        1.000001311302185\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"e461f59150bdc5b675a3b025c7b4e7ee\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"361863b2b7c149379ec4d07cebc720b4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_1\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"361863b2b7c149379ec4d07cebc720b4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_cottya_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_cottya_2\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"cottya\",\n                    \"scale\": [\n                        1.0000277757644653,\n                        1.0000189542770386,\n                        0.9999681711196899\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"361863b2b7c149379ec4d07cebc720b4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"garden_chair_lraplz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"garden_chair_lraplz_0\",\n                    \"category\": \"garden_chair\",\n                    \"model\": \"lraplz\",\n                    \"scale\": [\n                        1.0000391006469727,\n                        1.0000197887420654,\n                        0.999955415725708\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"straight_chair_uofiqj_1\",\n                    \"category\": \"straight_chair\",\n                    \"model\": \"uofiqj\",\n                    \"scale\": [\n                        1.0000693798065186,\n                        0.9999873638153076,\n                        0.9999604225158691\n                    ],\n                    \"fixed_base\": false,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"1142004608ed16c041c0c264e6eb74a5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"straight_chair_zdhnyg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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            \"category\": \"bar\",\n                    \"model\": \"egwapq\",\n                    \"scale\": [\n                        0.9999869465827942,\n                        0.9999972581863403,\n                        1.0000406503677368\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"fa31d04ec2beb2ccd5b8f4813360d422\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"bottom_cabinet_rhdbzv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"bottom_cabinet_rhdbzv_0\",\n                    \"category\": \"bottom_cabinet\",\n                    \"model\": \"rhdbzv\",\n                    \"scale\": [\n                        0.9999125599861145,\n                        0.9999962449073792,\n                        0.9999184012413025\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"895d45486bbe4484676204b9e2da9f9b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_alydei_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_alydei_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"alydei\",\n                    \"scale\": [\n                        0.999988853931427,\n                        0.9999680519104004,\n   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\"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"fed445c055bd7da4df963a2455755786\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_feolie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_feolie_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"feolie\",\n                    \"scale\": [\n                        0.9999893307685852,\n                        0.9999977946281433,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"0c8c59ac8c8af78b9d8eec93e762df12\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_isizwh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_isizwh_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"isizwh\",\n                    \"scale\": [\n                        0.9999997019767761,\n                        0.9999985098838806,\n                        0.9999061226844788\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"d94c0f06b0244d1f69d59096d0a0ead6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_kbxtoc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_kbxtoc_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"kbxtoc\",\n                    \"scale\": [\n                        0.9999968409538269,\n                        1.0000067949295044,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"308be41b758fc0ca3f8ac8e31ce37d86\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_sbkyof_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_sbkyof_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"sbkyof\",\n                    \"scale\": [\n                        1.0000014305114746,\n                        0.9999884366989136,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"46c82d22b374f34f5b527f708c1c355b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"ceilings_vkfllw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"ceilings_vkfllw_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"vkfllw\",\n                    \"scale\": [\n                        1.000012993812561,\n                        1.0000267028808594,\n                        0.9999062418937683\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"9a9b27c732cc2d0cee5ece6550efee5b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_hgonwj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_hgonwj_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"hgonwj\",\n                    \"scale\": [\n                        0.9999993443489075,\n                        1.0000003576278687,\n                        0.9999220967292786\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"97e453ea122521909d3b30c306a76c63\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_rypeha_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_rypeha_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"rypeha\",\n                    \"scale\": [\n                        0.9984210729598999,\n                        1.0001134872436523,\n                        1.0001660585403442\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"42d69583e4b4152650d990287368132f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"decorative_sign_xzsmxq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"decorative_sign_xzsmxq_0\",\n                    \"category\": \"decorative_sign\",\n                    \"model\": \"xzsmxq\",\n                    \"scale\": [\n                        0.9994317293167114,\n                        0.9999769926071167,\n                        1.0000669956207275\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"50b17dd7bf51dded04a7fef7a5383914\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_0\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9997830986976624,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_bexenl_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_bexenl_1\",\n                    \"category\": \"door\",\n                    \"model\": \"bexenl\",\n                    \"scale\": [\n                        0.9984117150306702,\n                        1.0000373125076294,\n                        0.9999975562095642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"expected_file_hash\": \"7865c16b2356a17e2c56ddca2d9de7dc\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_vudhlc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_vudhlc_0\",\n                    \"category\": \"door\",\n                    \"model\": \"vudhlc\",\n                    \"scale\": [\n                        0.9998228549957275,\n                        0.9999946355819702,\n                        0.9999881982803345\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                      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\"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_12\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n  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        \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_16\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_16\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_17\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_17\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_2\": {\n  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\"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n                        1.0005167722702026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"d0ce32190cf88078f7a14ffc1224ce50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"downlight_pawfmw_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_pawfmw_6\",\n                    \"category\": \"downlight\",\n                    \"model\": \"pawfmw\",\n                    \"scale\": [\n                        1.0000351667404175,\n                        1.0000944137573242,\n      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\"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                        \"corridor_0\"\n                    ],\n                    \"expected_file_hash\": \"ba2d1bf51e06e657781716bd5c0cffe5\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"electric_switch_strbnw_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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0.9996340274810791,\n                        0.9999764561653137,\n                        0.9999943971633911\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"61725e3a9b11c1062ad9959d78f32a2c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"fixed_window_lhzwtz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"fixed_window_lhzwtz_0\",\n                    \"category\": \"fixed_window\",\n                    \"model\": \"lhzwtz\",\n                    \"scale\": [\n                        1.0003936290740967,\n                        0.9999641180038452,\n                        0.9999814033508301\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"5f2a85d70c12c1d850ea555f4ae19873\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"floors_ghetev_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_ghetev_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"ghetev\",\n                    \"scale\": [\n                        0.9999978542327881,\n                        1.0000015497207642,\n                        0.9999032616615295\n                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\"model\": \"kiuayi\",\n                    \"scale\": [\n                        0.999922513961792,\n                        0.999922513961792,\n                        0.9999570250511169\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"0a708f17db358d92424529282bde269d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sofa_frlxgz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sofa_frlxgz_0\",\n                    \"category\": \"sofa\",\n                    \"model\": \"frlxgz\",\n                    \"scale\": [\n                        0.9999723434448242,\n                        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\"walls_cvdpaq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_cvdpaq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"cvdpaq\",\n                    \"scale\": [\n                        0.9999979734420776,\n                        0.9999068975448608,\n                        1.000015377998352\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"61d61f77095a80ff9b5f03c2669df801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_cxsmhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n     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  }\n            },\n            \"walls_jzwmhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jzwmhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jzwmhx\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.9999966025352478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"261879bc3e684bf2dbd77d26f0c2b12e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lblwvg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": 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\"lovfhw\",\n                    \"scale\": [\n                        0.9998873472213745,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1ef27847777cc10a5634cdf9e031485d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgumxz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgumxz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgumxz\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        0.999988853931427,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d64ca8201b1ab12b8d30cc5947ae45da\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mgvxov_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mgvxov_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mgvxov\",\n                    \"scale\": [\n                        0.9998886585235596,\n                        0.9998785257339478,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"dde5a8a24f95e81ea67759ba1da85bbe\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_miltge_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_miltge_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"miltge\",\n                    \"scale\": [\n                        1.0000001192092896,\n                        0.9999647736549377,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"80acf118157114cffb17d2205bd44b6c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mkgplc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mkgplc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mkgplc\",\n                    \"scale\": [\n                        1.0000089406967163,\n                        1.0001459121704102,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e7d5eb091d9fb1d54402e23050fd5206\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mwlvfb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mwlvfb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mwlvfb\",\n                    \"scale\": [\n                        1.0000306367874146,\n                        1.0001626014709473,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"77a32e0830f3660a5ed62483d5cac240\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oiagxk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oiagxk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oiagxk\",\n                    \"scale\": [\n                        0.9999501705169678,\n                        1.0000206232070923,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"657e0d27d79cc93ba85c415d2b42af1f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oqrbxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oqrbxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oqrbxo\",\n                    \"scale\": [\n                        1.000234842300415,\n                        1.0000065565109253,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa379f9a9c9cd1da7ff648f499198f18\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_owxeej_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_owxeej_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"owxeej\",\n                    \"scale\": [\n                        0.9999358654022217,\n                        1.000019907951355,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"34bef14a7ea780bf2cd93815746eb459\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paarsl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paarsl_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paarsl\",\n                    \"scale\": [\n                        0.999906599521637,\n                        1.0000128746032715,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e9e1b102347c179e7404ac8c63a057a1\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pmygxs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pmygxs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pmygxs\",\n                    \"scale\": [\n                        0.999999463558197,\n                        0.9998095035552979,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cfa38d73f5886197dba5e112adfcc07a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qeofms_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qeofms_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qeofms\",\n                    \"scale\": [\n                        0.9999974966049194,\n                        0.999953031539917,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"de4be4ceec4d1ed48e605abe3782ada8\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rrabdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rrabdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rrabdp\",\n                    \"scale\": [\n                        0.9999839663505554,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ce0382609f884e45db5568d574f2e732\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uiloru_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uiloru_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uiloru\",\n                    \"scale\": [\n                        0.9999812245368958,\n                        0.9997938871383667,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0ed21a252059af2ca999e818dfd81cbb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_umqqmh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_umqqmh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"umqqmh\",\n                    \"scale\": [\n                        1.000093698501587,\n                        0.9998928904533386,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"be4f1289ffe5930678abdd08063eb74a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_upttgq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_upttgq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"upttgq\",\n                    \"scale\": [\n                        0.9997971057891846,\n                        1.0000076293945312,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"326697987c9faf715f6e6116bc9f3801\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vxveul_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vxveul_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vxveul\",\n                    \"scale\": [\n                        0.9999592900276184,\n                        1.0000137090682983,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db479ab9cc217e69d2cb0748a8fbe312\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_weybsr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_weybsr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"weybsr\",\n                    \"scale\": [\n                        1.0000098943710327,\n                        0.9999802112579346,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8b98d47f8b384604d4211372b3575ebd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xsubff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xsubff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xsubff\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0000354051589966,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b2f42d7ef8fef68f4341a6059f45a0c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xyrbgy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xyrbgy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xyrbgy\",\n                    \"scale\": [\n                        1.0,\n                        0.9999845027923584,\n                        1.0000032186508179\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"948fd822034ea730f10f722b2bb1be1a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ylpkth_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ylpkth_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ylpkth\",\n                    \"scale\": [\n                        1.0000102519989014,\n                        1.000156283378601,\n                        1.0000050067901611\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d46233dedb1a367be1e2e28627c7b665\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zdhaff_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zdhaff_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zdhaff\",\n                    \"scale\": [\n                        1.0000907182693481,\n                        1.0000133514404297,\n                        0.9999076128005981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"33d0d39b4bcb4f8eb883f96e2e614cba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"popcorn_bag_73\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"popcorn_bag_73\",\n                    \"category\": \"popcorn_bag\",\n                    \"model\": \"hdcpqg\",\n                    \"scale\": [\n                        0.7483059763908386,\n                        0.7557291388511658,\n                        0.7381880283355713\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"kitchen_0\"\n                    ],\n                    \"expected_file_hash\": \"8f40ea1093f6c42f4a837128a11e80ee\"\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": 3262,
    "num_samples": 3262,
    "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",
        "popcorn__bag.n.01_1_real",
        "popcorn__bag.n.01_1_pos",
        "popcorn__bag.n.01_1_ori_cos",
        "popcorn__bag.n.01_1_ori_sin",
        "popcorn__bag.n.01_1_in_gripper_left",
        "popcorn__bag.n.01_1_in_gripper_right",
        "microwave.n.02_1_real",
        "microwave.n.02_1_pos",
        "microwave.n.02_1_ori_cos",
        "microwave.n.02_1_ori_sin",
        "microwave.n.02_1_in_gripper_left",
        "microwave.n.02_1_in_gripper_right",
        "countertop.n.01_1_real",
        "countertop.n.01_1_pos",
        "countertop.n.01_1_ori_cos",
        "countertop.n.01_1_ori_sin",
        "countertop.n.01_1_in_gripper_left",
        "countertop.n.01_1_in_gripper_right",
        "floor.n.01_1_real",
        "floor.n.01_1_pos",
        "floor.n.01_1_ori_cos",
        "floor.n.01_1_ori_sin",
        "floor.n.01_1_in_gripper_left",
        "floor.n.01_1_in_gripper_right"
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