diff --git "a/meta/episodes/task-0007/episode_00070400.json" "b/meta/episodes/task-0007/episode_00070400.json"
new file mode 100644--- /dev/null
+++ "b/meta/episodes/task-0007/episode_00070400.json"
@@ -0,0 +1,276 @@
+{
+    "config": "{\"env\": {\"action_frequency\": 1000.0, \"rendering_frequency\": 1000.0, \"physics_frequency\": 1000.0, \"device\": null, \"automatic_reset\": false, \"flatten_action_space\": false, \"flatten_obs_space\": true, \"initial_pos_z_offset\": 0.1, \"external_sensors\": {}}, \"render\": {\"viewer_width\": 1280, \"viewer_height\": 720}, \"scene\": {\"waypoint_resolution\": 0.2, \"num_waypoints\": 10, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"scene_instance\": \"house_single_floor_task_picking_up_toys_0_0_template\", \"scene_file\": {\"metadata\": {\"task\": {\"inst_to_name\": {\"agent.n.01_1\": \"robot_r1\", \"bed.n.01_1\": \"bed_rrcvaq_0\", \"board_game.n.01_1\": \"board_game_230\", \"board_game.n.01_2\": \"board_game_229\", \"board_game.n.01_3\": \"board_game_228\", \"floor.n.01_1\": \"floors_vcsslq_0\", \"jigsaw_puzzle.n.01_1\": \"jigsaw_puzzle_227\", \"jigsaw_puzzle.n.01_2\": \"jigsaw_puzzle_226\", \"table.n.02_1\": \"desk_xhjsub_0\", \"tennis_ball.n.01_1\": \"tennis_ball_225\", \"toy_box.n.01_1\": \"toy_box_224\"}}}, \"init_info\": {\"class_module\": \"omnigibson.scenes.interactive_traversable_scene\", \"class_name\": \"InteractiveTraversableScene\", \"args\": {\"scene_model\": \"house_single_floor\", \"scene_instance\": \"house_single_floor_task_picking_up_toys_0_0_template\", \"scene_file\": null, \"trav_map_resolution\": 0.1, \"default_erosion_radius\": 0.0, \"trav_map_with_objects\": true, \"num_waypoints\": 10, \"waypoint_resolution\": 0.2, \"load_room_types\": null, \"load_room_instances\": null, \"include_robots\": true}}, \"objects_info\": {\"init_info\": {\"bottom_cabinet_rhdbzv_0\": {\"class_module\": \"omnigibson.objects.dataset_object\", \"class_name\": \"DatasetObject\", \"args\": {\"name\": \"bottom_cabinet_rhdbzv_0\", \"category\": \"bottom_cabinet\", \"model\": \"rhdbzv\", \"scale\": [0.8492847084999084, 0.4163443148136139, 0.9043539762496948], \"fixed_base\": true, 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\"non_kin\": {}}, \"walls_ybcyqk_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [20.21389389038086, 15.835819244384766, 1.552005410194397], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zfhsih_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [24.367229461669922, 7.699338912963867, 0.39644721150398254], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zpjckn_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [19.604822158813477, 23.33141326904297, 1.552005410194397], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zqexop_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [23.214412689208984, 8.345867156982422, 1.5520031452178955], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zufhrv_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [24.188302993774414, -2.471952199935913, 1.5257920026779175], \"ori\": [0.0, 0.0, 0.0, 1.0]}, \"non_kin\": {}}, \"walls_zxlndv_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [24.56805419921875, 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{\"temperature\": 23.0}, \"AttachedTo\": {\"attached_obj_uuid\": -1}}}, \"washer_ynwamu_0\": {\"is_asleep\": false, \"root_link\": {\"pos\": [21.996633529663086, 0.3348013460636139, 0.46791112422943115], \"ori\": [-8.667352631164249e-06, -1.3530485375667922e-05, -0.0012447773478925228, 0.9999992251396179], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"joint_pos\": [-8.288807918292509e-20], \"joint_vel\": [0.0], \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}, \"ToggledOn\": {\"value\": false, \"hand_in_marker_steps\": 0}}}, \"toy_box_224\": {\"is_asleep\": true, \"root_link\": {\"pos\": [20.593202590942383, 18.77948570251465, 0.8324456810951233], \"ori\": [-5.182812401471892e-07, 4.472131877264474e-06, 0.9797919988632202, 0.20001934468746185], \"lin_vel\": [0.0, 0.0, 0.0], \"ang_vel\": [0.0, 0.0, 0.0]}, \"non_kin\": {\"Temperature\": {\"temperature\": 23.0}}}, \"tennis_ball_225\": {\"is_asleep\": true, \"root_link\": {\"pos\": [20.474411010742188, 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[-1.2225997124915011e-05, -6.45304680801928e-07], [1.5419645933434367e-05, 0.00017754509462974966], [-2.8610227673198096e-05, -9.790062176762149e-05], [6.347894668579102e-05, 8.940695806813892e-06]], \"current_idx\": 0, \"fully_filled\": true}}, \"arm_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, \"gripper_right\": {\"goal_is_valid\": true, \"goal\": {\"target\": [0.05000000074505806]}, \"vel_filter\": {\"past_samples\": [[-1.7881391613627784e-05, -1.162290482170647e-05], [4.9017158744391054e-05, 9.471498196944594e-05], [-2.8592286980710924e-05, 2.1923282474745065e-05], [-6.437301635742188e-05, -2.548098382249009e-05], [9.119509923039004e-05, -2.6822088329936378e-05]], \"current_idx\": 0, \"fully_filled\": true}}}, \"non_kin\": {}, \"ag_obj_constraint_params\": {\"left\": {}, \"right\": {}}}}}}}, \"type\": \"InteractiveTraversableScene\", \"scene_model\": \"house_single_floor\", \"load_room_types\": null, \"load_room_instances\": [\"childs_room_0\", \"childs_room_1\", \"childs_room_2\", \"corridor_0\", \"dining_room_0\", \"entryway_0\", \"garden_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\": [21.585540771484375, 17.41180419921875, 0.004974365234375], \"orientation\": [0.0007278993725776672, 0.0005626706988550723, 0.9948073625564575, 0.10177161544561386], \"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\": \"picking_up_toys\", \"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\": \"8195e923ab104dbf0fd5ced8e7e3673659a2f254\"\n        },\n        \"bddl\": {\n            \"version\": \"3.7.0a0\",\n            \"git_hash\": \"8195e923ab104dbf0fd5ced8e7e3673659a2f254\"\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                \"bed.n.01_1\": \"bed_rrcvaq_0\",\n                \"board_game.n.01_1\": \"board_game_230\",\n                \"board_game.n.01_2\": \"board_game_229\",\n                \"board_game.n.01_3\": \"board_game_228\",\n                \"floor.n.01_1\": \"floors_vcsslq_0\",\n                \"jigsaw_puzzle.n.01_1\": \"jigsaw_puzzle_227\",\n                \"jigsaw_puzzle.n.01_2\": \"jigsaw_puzzle_226\",\n                \"table.n.02_1\": \"desk_xhjsub_0\",\n                \"tennis_ball.n.01_1\": \"tennis_ball_225\",\n                \"toy_box.n.01_1\": \"toy_box_224\"\n            }\n        }\n    },\n    \"state\": {\n        \"pos\": [\n            0.0,\n            0.0,\n            0.0\n        ],\n        \"ori\": [\n            0.0,\n            0.0,\n            0.0,\n            1.0\n        ],\n        \"registry\": {\n            \"system_registry\": {},\n            \"object_registry\": {\n                \"bottom_cabinet_rhdbzv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.0386667251586914,\n                            -1.42839777469635,\n                            0.19256263971328735\n                        ],\n                        \"ori\": [\n                            -9.313225746154785e-10,\n                            -4.768824624079571e-07,\n                            1.0000001192092896,\n                            6.715708877891302e-07\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bottom_cabinet_rhdbzv_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.0436198711395264,\n                            0.5179303288459778,\n                            0.19256259500980377\n                        ],\n                        \"ori\": [\n                            0.0,\n                            -2.384635422458814e-07,\n                            1.0000001192092896,\n                            5.523324944078922e-07\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"joint_pos\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {\n                        \"Temperature\": {\n                            \"temperature\": 23.0\n                        }\n                    }\n                },\n                \"bush_ebuvur_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -14.292359352111816,\n                            30.410165786743164,\n                            0.8203938603401184\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_ebuvur_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            14.134653091430664,\n                            25.318904876708984,\n                            0.8203938603401184\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ModifiedParticles\": {\n                            \"n_systems\": 0\n                        },\n                        \"Saturated\": {\n                            \"n_systems\": 0,\n                            \"default_visual_particle_limit\": 200,\n                            \"default_physical_particle_limit\": 400\n                        },\n                        \"ParticleRemover\": {\n                            \"current_step\": 0\n                        }\n                    }\n                },\n                \"bush_frqici_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            4.79324197769165,\n                            25.338485717773438,\n                            1.8793333768844604\n      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                      0.7925787568092346\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_jgoolz_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.255089282989502,\n                            4.027687072753906,\n                            0.3260207772254944\n                        ],\n                        \"ori\": [\n                            -7.510185241699219e-06,\n                            -7.221824489533901e-06,\n                            -0.6765275001525879,\n                            0.7364175319671631\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_jgoolz_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.437380313873291,\n                            4.110445022583008,\n                            0.3260205388069153\n                        ],\n                        \"ori\": [\n                            8.13603401184082e-06,\n                            6.5644271671772e-06,\n                            0.738136351108551,\n                            -0.6746517419815063\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_jgoolz_4\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.403812408447266,\n                            2.89833927154541,\n                            0.32602065801620483\n                        ],\n                        \"ori\": [\n                            5.8710575103759766e-06,\n                            -8.68597999215126e-06,\n                            0.6077519655227661,\n                            0.7941271662712097\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_jgoolz_5\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.255205154418945,\n                            2.693580389022827,\n                            0.32602062821388245\n                        ],\n                        \"ori\": [\n                            5.856156349182129e-06,\n                            -8.507398888468742e-06,\n                            0.6077520847320557,\n                            0.7941270470619202\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_rljebp_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.379987716674805,\n                            5.619818687438965,\n                            0.19902586936950684\n                        ],\n                        \"ori\": [\n                            -2.835690975189209e-05,\n                            3.261445090174675e-05,\n                            0.6824015974998474,\n                            0.7309774160385132\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"straight_chair_rljebp_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.101572036743164,\n                            5.55397891998291,\n                            0.20246624946594238\n                        ],\n                        \"ori\": [\n                            -0.008616775274276733,\n                            0.008174438960850239,\n                            0.6823595762252808,\n                            0.7309203743934631\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"swivel_chair_tbzfgf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.79710578918457,\n                            18.555002212524414,\n                            0.42396220564842224\n                        ],\n                        \"ori\": [\n                            6.054341793060303e-05,\n                            0.00014265626668930054,\n                            0.9900016188621521,\n                            -0.1410568356513977\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"table_lamp_uupwiq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.82192611694336,\n                            14.89867115020752,\n                            0.1639411747455597\n                        ],\n                        \"ori\": [\n                            -0.5569312572479248,\n                            0.7609772086143494,\n                            -0.24808289110660553,\n                            -0.22180283069610596\n                        ],\n                        \"lin_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ],\n                        \"ang_vel\": [\n                            0.0,\n                            0.0,\n                            0.0\n                        ]\n                    },\n                    \"non_kin\": {\n                        \"ToggledOn\": {\n                            \"value\": false,\n                            \"hand_in_marker_steps\": 0\n                        }\n                    }\n                },\n                \"bed_ivdnny_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.27996826171875,\n                            7.785693645477295,\n                            0.33833593130111694\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            1.0,\n                            -4.331257628109597e-07\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bed_rrcvaq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.1903133392334,\n                            17.832082748413086,\n                            0.40365302562713623\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012722780229523778\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"bed_rrcvaq_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.334209442138672,\n                            12.980031967163086,\n                            0.40365302562713623\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            -0.0012448775814846158,\n                            0.9999992251396179\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"boulder_vxbkjq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -16.29715919494629,\n                            39.02416229248047,\n                            0.18012289702892303\n                        ],\n                        \"ori\": [\n                            0.020185114815831184,\n                            0.780676543712616,\n                            0.5264541506767273,\n                            -0.3361290693283081\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_apkslx_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.655349731445312,\n                            8.170424461364746,\n                            2.716301441192627\n                        ],\n                        \"ori\": [\n                            -0.003169272094964981,\n                            -0.00014235811249818653,\n                            0.999994158744812,\n                            0.0012712108436971903\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_awbqsa_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.6643823385238647,\n                            4.449590682983398,\n                            3.0159108638763428\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_frqekm_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -10.319549560546875,\n                            2.99928617477417,\n                            2.3755974769592285\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_gasyop_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            21.243879318237305,\n                            15.91082763671875,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_ibxzsn_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.347566604614258,\n                            20.60630226135254,\n                            2.7185845375061035\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_iskjpi_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.49820899963379,\n                            14.166620254516602,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_jjyrdh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            13.536916732788086,\n                            0.7440887689590454,\n                            2.7151918411254883\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_khkogf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.226184844970703,\n                            11.028487205505371,\n                            2.715930461883545\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_kxjvpr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            6.614812850952148,\n                            -0.3610565960407257,\n                            2.7164530754089355\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_nsysju_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.102420806884766,\n                            24.773836135864258,\n                            2.862042188644409\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_qdlnli_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            20.69895362854004,\n                            20.609512329101562,\n                            2.7620418071746826\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_qenicw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.263912200927734,\n                            17.982385635375977,\n                            2.756324052810669\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_shvqqe_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.650407791137695,\n                            23.7845401763916,\n                            2.8843472003936768\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tbhzzb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.289335250854492,\n                            -0.22356389462947845,\n                            2.7168900966644287\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.9999991655349731,\n                            0.0012719203950837255\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tcwyvb_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            1.3020293712615967,\n                            -0.0882028341293335,\n                            2.7156898975372314\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_tjwkje_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            7.001570701599121,\n                            3.3189001083374023,\n                            2.712042808532715\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"ceilings_wbbkuv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            22.248825073242188,\n                            6.918673515319824,\n                            2.76203989982605\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.7080055475234985,\n                            -0.7062068581581116\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"door_crtrpa_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -6.909823417663574,\n                            4.79899263381958,\n                            1.1613048315048218\n                        ],\n                        \"ori\": [\n                            -4.82769382870174e-06,\n                            -3.8625195486474695e-08,\n                            0.9999681115150452,\n                            -0.007989278063178062\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_eduavq_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -14.740835189819336,\n                            9.15676212310791,\n                            1.1608833074569702\n                        ],\n                        \"ori\": [\n                            0.00036432972410693765,\n                            -0.0013416716828942299,\n                            0.4043865501880646,\n                            0.9145873188972473\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_fnvpyu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.023595809936523,\n                            17.786287307739258,\n                            1.3550719022750854\n                        ],\n                        \"ori\": [\n                            0.0007749273208901286,\n                            -5.0590915634529665e-06,\n                            -0.0014219932490959764,\n                            0.9999987483024597\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_iuuykr_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -12.70078182220459,\n                            18.684579849243164,\n                            1.923855185508728\n                        ],\n                        \"ori\": [\n                            -8.17347172414884e-05,\n                            -7.773757533868775e-05,\n                            0.7246024012565613,\n                            -0.6891671419143677\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                        0.0\n                    ],\n                    \"joint_vel\": [\n                        0.0,\n                        0.0\n                    ],\n                    \"non_kin\": {}\n                },\n                \"door_kwbnhy_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.388137817382812,\n                            16.86415672302246,\n                            1.326021671295166\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0000001192092896\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_kwbnhy_1\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            18.467453002929688,\n                            -2.483981132507324,\n                            1.3314296007156372\n                        ],\n                        \"ori\": [\n                            2.268579919473268e-06,\n                            5.4846850616740994e-08,\n                            -0.6999110579490662,\n                            0.7142301201820374\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_kwbnhy_2\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.36335563659668,\n                            5.792731761932373,\n                            1.3245834112167358\n                        ],\n                        \"ori\": [\n                            1.8222610833618091e-06,\n                            1.4826014194113668e-08,\n                            0.008148525841534138,\n                            0.9999669194221497\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_kwbnhy_3\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            24.38517951965332,\n                            14.773014068603516,\n                            1.3247464895248413\n                        ],\n                        \"ori\": [\n                            1.8213339672001894e-06,\n                            2.944489096989855e-11,\n                            0.011554650962352753,\n                            0.9999333620071411\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_tfdrhh_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            -1.0913333892822266,\n                            0.04531616345047951,\n                            1.4764293432235718\n                        ],\n                        \"ori\": [\n                            0.0020832521840929985,\n                            8.197675924748182e-07,\n                            0.9999870657920837,\n                            0.004663139581680298\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   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2.328411340713501,\n                            2.310049057006836\n                        ],\n                        \"ori\": [\n                            -9.094947017729282e-13,\n                            -4.119048852002649e-13,\n                            0.70710688829422,\n                            0.7071066498756409\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                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1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_fyjrnv_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.25562858581543,\n                            2.1406776905059814,\n                            1.5257943868637085\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_ggtriw_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            19.326173782348633,\n                            24.789026260375977,\n                          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          0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_gkwemu_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            9.469836235046387,\n                            4.3929619789123535,\n                            1.5257920026779175\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_gmwqcf_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            25.12486457824707,\n                            25.404197692871094,\n                            0.030439333990216255\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                \"walls_gpfsgj_0\": {\n                    \"is_asleep\": false,\n                    \"root_link\": {\n                        \"pos\": [\n                            23.472562789916992,\n                            9.78207015991211,\n                            2.8776400089263916\n                        ],\n                        \"ori\": [\n                            0.0,\n                            0.0,\n                            0.0,\n                            1.0\n                        ]\n                    },\n                    \"non_kin\": {}\n                },\n                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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bottom_cabinet_no_top_gjrero_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bottom_cabinet_no_top_gjrero_3\",\n                                \"category\": \"bottom_cabinet_no_top\",\n                                \"model\": \"gjrero\",\n                                \"scale\": [\n                                    0.9997877478599548,\n                                    1.3944655656814575,\n 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\"scale\": [\n                                    0.9999991059303284,\n                                    1.000010371208191,\n                                    0.9999893307685852\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_ebuvur_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_ebuvur_1\",\n                                \"category\": \"bush\",\n                                \"model\": \"ebuvur\",\n   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                \"category\": \"bush\",\n                                \"model\": \"knspbi\",\n                                \"scale\": [\n                                    1.0000227689743042,\n                                    1.0000056028366089,\n                                    1.0000313520431519\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_knspbi_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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             \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_kyghri_2\",\n                                \"category\": \"bush\",\n                                \"model\": \"kyghri\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.000002384185791,\n                                    1.0000070333480835\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_kyghri_3\": {\n                            \"class_module\": 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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_4\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_lfyqkj_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_lfyqkj_5\",\n                                \"category\": \"bush\",\n                                \"model\": \"lfyqkj\",\n                                \"scale\": [\n                                    1.0000290870666504,\n                                    0.9999884963035583,\n                                    1.0000216960906982\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n        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],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"bush_xsqlhv_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"bush_xsqlhv_3\",\n                                \"category\": \"bush\",\n                                \"model\": \"xsqlhv\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.9999860525131226,\n                                    1.0000078678131104\n  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\"category\": \"clothesline_pole\",\n                                \"model\": \"smrqrw\",\n                                \"scale\": [\n                                    1.0002660751342773,\n                                    1.000095248222351,\n                                    0.9999536871910095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"clothesline_pole_smrqrw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"clothesline_pole_smrqrw_1\",\n                                \"category\": \"clothesline_pole\",\n                                \"model\": \"smrqrw\",\n                                \"scale\": [\n                                    1.0002660751342773,\n                                    1.000095248222351,\n                                    0.9999536871910095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"dishwasher_ynrhuk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n              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\"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fridge_dszchb_0\",\n                                \"category\": \"fridge\",\n                                \"model\": \"dszchb\",\n                                \"scale\": [\n                                    1.0291646718978882,\n                                    0.9616702198982239,\n                                    1.021162748336792\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"microwave_abzvij_0\": {\n                            \"class_module\": 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\"recreational_vehicle_doiucd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"recreational_vehicle_doiucd_0\",\n                                \"category\": \"recreational_vehicle\",\n                                \"model\": \"doiucd\",\n                                \"scale\": [\n                                    1.0000016689300537,\n                                    0.9999963641166687,\n                                    1.0000040531158447\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n     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    \"bddl_object_scope\": null\n                            }\n                        },\n                        \"toilet_udiezm_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toilet_udiezm_1\",\n                                \"category\": \"toilet\",\n                                \"model\": \"udiezm\",\n                                \"scale\": [\n                                    1.0000375509262085,\n                                    1.0000358819961548,\n                                    0.9999516010284424\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                          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                              \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_dyymaq_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_dyymaq_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"dyymaq\",\n                                \"scale\": [\n                                    0.8801286816596985,\n                                    0.8801221251487732,\n                                    0.8801206350326538\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                         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                              \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_flkzbo_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_flkzbo_2\",\n                                \"category\": \"tree\",\n                                \"model\": \"flkzbo\",\n                                \"scale\": [\n                                    0.7062019109725952,\n                                    0.7061948776245117,\n                                    0.7062073349952698\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_flkzbo_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_flkzbo_3\",\n                                \"category\": \"tree\",\n                                \"model\": \"flkzbo\",\n                                \"scale\": [\n                                    1.029015302658081,\n                                    1.0290170907974243,\n                                   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\"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6568438410758972,\n                                    0.656842827796936,\n                                    0.6568325161933899\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_11\",\n                                \"category\": \"tree\",\n                                \"model\": \"rrhqpw\",\n                                \"scale\": [\n                                    0.6341893076896667,\n                                    0.6342058777809143,\n                                    0.6341960430145264\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tree_rrhqpw_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tree_rrhqpw_12\",\n                          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                           \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_jzthdw_0\",\n                                \"category\": \"armchair\",\n                                \"model\": \"jzthdw\",\n                                \"scale\": [\n                                    0.9999901652336121,\n                                    1.0000641345977783,\n                                    0.9999971985816956\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_jzthdw_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_jzthdw_1\",\n                                \"category\": \"armchair\",\n                                \"model\": \"jzthdw\",\n                                \"scale\": [\n                                    0.9999901652336121,\n                                    1.0000641345977783,\n                                    0.9999971985816956\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_0\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n         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                    \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_3\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_4\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_5\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_6\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_7\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_8\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"armchair_qhcrgb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"armchair_qhcrgb_9\",\n                                \"category\": \"armchair\",\n                                \"model\": \"qhcrgb\",\n                                \"scale\": [\n                                    0.9999896883964539,\n                                    1.0000638961791992,\n                                    0.9999970197677612\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"breakfast_table_rhjoby_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"breakfast_table_rhjoby_0\",\n                                \"category\": \"breakfast_table\",\n                                \"model\": \"rhjoby\",\n                                \"scale\": [\n                                    0.9999933242797852,\n                                    0.9999943971633911,\n                                    0.9999465942382812\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"coffee_table_qtwqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_qtwqqb_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"qtwqqb\",\n                                \"scale\": [\n                          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                    \"scale\": [\n                                    1.0000269412994385,\n                                    1.000026822090149,\n                                    0.999855637550354\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"coffee_table_wgtaip_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"coffee_table_wgtaip_0\",\n                                \"category\": \"coffee_table\",\n                                \"model\": \"wgtaip\",\n                                \"scale\": [\n                                    0.9999980330467224,\n                                    1.0000022649765015,\n                                    0.9999971985816956\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"eames_chair_hndxiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_hndxiw_0\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"hndxiw\",\n                                \"scale\": [\n                                    1.0000159740447998,\n                                    0.9999547004699707,\n                                    1.0000088214874268\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"542e6e03e1c927552165e96b618f4696\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"eames_chair_ubmrms_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"eames_chair_ubmrms_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_ubmrms_2\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"ubmrms\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"eames_chair_ubmrms_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"eames_chair_ubmrms_3\",\n                                \"category\": \"eames_chair\",\n                                \"model\": \"ubmrms\",\n                                \"scale\": [\n                                    0.9999967217445374,\n                                    0.999999463558197,\n                                    0.9999688267707825\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floor_lamp_disyzd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_disyzd_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"disyzd\",\n                                \"scale\": [\n                                    1.000093936920166,\n                                    0.9999775290489197,\n                                    0.999976634979248\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"a6dffbc3028ce20154dc721ddd625af8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floor_lamp_jbjckk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floor_lamp_jbjckk_0\",\n                                \"category\": \"floor_lamp\",\n                                \"model\": \"jbjckk\",\n                                \"scale\": [\n                                    0.999987781047821,\n                                    0.9999877214431763,\n                                    1.0000114440917969\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_1\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_2\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_3\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_lsaxch_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_lsaxch_4\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"lsaxch\",\n                                \"scale\": [\n                                    1.0000507831573486,\n                                    0.999936580657959,\n                                    1.0001606941223145\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ottoman_wkmbra_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ottoman_wkmbra_0\",\n                                \"category\": \"ottoman\",\n                                \"model\": \"wkmbra\",\n                                \"scale\": 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\"pot_plant\",\n                                \"model\": \"bjwskl\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    0.9999886751174927,\n                                    1.0000299215316772\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_0\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_1\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_lligdl_2\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"lligdl\",\n                                \"scale\": [\n                                    0.9999939799308777,\n                                    1.000012755393982,\n                                    1.0000044107437134\n                                ],\n                                \"fixed_base\": false,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"pot_plant_lligdl_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            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\"args\": {\n                                \"name\": \"baseboard_dsajeh_0\",\n                                \"category\": \"baseboard\",\n                                \"model\": \"dsajeh\",\n                                \"scale\": [\n                                    1.0000505447387695,\n                                    0.9999988675117493,\n                                    1.0001800060272217\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"baseboard_peorza_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"expected_file_hash\": \"3022f620df6c15b5c164b373d988d57a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_ibxzsn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_ibxzsn_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"ibxzsn\",\n                                \"scale\": [\n                                    1.0000120401382446,\n                                    1.0000014305114746,\n                                    0.9997040629386902\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"expected_file_hash\": \"c0e74fb5dd3ba4b452604b738890c6cb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_iskjpi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_iskjpi_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"iskjpi\",\n                                \"scale\": [\n           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\"category\": \"ceilings\",\n                                \"model\": \"jjyrdh\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9999960064888,\n                                    1.0003373622894287\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"expected_file_hash\": \"be62d391191b2132456b8fbc464f5217\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_khkogf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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\"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_nsysju_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_nsysju_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"nsysju\",\n                                \"scale\": [\n                                    1.0000066757202148,\n                                    1.0000131130218506,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n     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                            \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"expected_file_hash\": \"5ecc32fbf2ef54074d5332cb3fa65d11\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_qenicw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_qenicw_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"qenicw\",\n                                \"scale\": [\n                                    0.9999836683273315,\n                                    0.9999991059303284,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"2de1018338977e4f891c9ac0e8f77f46\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_shvqqe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_shvqqe_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"shvqqe\",\n                                \"scale\": [\n                                    0.9999994039535522,\n                                    1.0000087022781372,\n                                    0.9999756217002869\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"expected_file_hash\": \"c5570b940e3b7095942cdbb7ed873c3b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tbhzzb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tbhzzb_0\",\n                                \"category\": 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                  \"args\": {\n                                \"name\": \"ceilings_tcwyvb_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tcwyvb\",\n                                \"scale\": [\n                                    0.999995231628418,\n                                    0.9999962449073792,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"expected_file_hash\": \"0702dd88fc132a6602a26bd52c10f06b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_tjwkje_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_tjwkje_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"tjwkje\",\n                                \"scale\": [\n                                    0.9999982714653015,\n                                    0.999995231628418,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"expected_file_hash\": \"87345ffa946cc6a323d8eb0a59bed180\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"ceilings_wbbkuv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"ceilings_wbbkuv_0\",\n                                \"category\": \"ceilings\",\n                                \"model\": \"wbbkuv\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9999978542327881,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"b41db40e9c105cb862183335b2429d28\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_fjkase_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_fjkase_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"fjkase\",\n                                \"scale\": [\n                                    1.000059962272644,\n                                    1.0000097751617432,\n                                    0.9999768137931824\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_ikwqer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_ikwqer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"ikwqer\",\n                                \"scale\": [\n                                    1.000056266784668,\n                                    1.0000085830688477,\n                                    0.9999606609344482\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_kelker_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_kelker_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"kelker\",\n                                \"scale\": [\n                                    0.9999452829360962,\n                                    1.0000067949295044,\n                                    1.0006266832351685\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_kelzer_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_kelzer_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"kelzer\",\n                                \"scale\": [\n                                    1.0000444650650024,\n                                    0.9999945759773254,\n                                    1.0007061958312988\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"countertop_sjxber_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"countertop_sjxber_0\",\n                                \"category\": \"countertop\",\n                                \"model\": \"sjxber\",\n                                \"scale\": [\n                                    1.0000237226486206,\n                                    1.000012755393982,\n                  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1.0000410079956055,\n                                    0.9999841451644897\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_eduavq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_eduavq_0\",\n                                \"category\": \"door\",\n                                \"model\": \"eduavq\",\n                                \"scale\": [\n             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\"model\": \"fnvpyu\",\n                                \"scale\": [\n                                    1.0002930164337158,\n                                    0.999984085559845,\n                                    1.000014066696167\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_iuuykr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_iuuykr_0\",\n                                \"category\": \"door\",\n                                \"model\": \"iuuykr\",\n                                \"scale\": [\n                                    1.000057339668274,\n                                    1.0000216960906982,\n                                    1.0000015497207642\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_kwbnhy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_0\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0001516342163086,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_kwbnhy_1\": 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        }\n                        },\n                        \"door_kwbnhy_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_2\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    0.9946825504302979,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_kwbnhy_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_kwbnhy_3\",\n                                \"category\": \"door\",\n                                \"model\": \"kwbnhy\",\n                                \"scale\": [\n                                    1.0890235900878906,\n                                    0.9999372363090515,\n                                    0.9999863505363464\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"door_tfdrhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"door_tfdrhh_0\",\n                                \"category\": \"door\",\n                                \"model\": \"tfdrhh\",\n                                \"scale\": [\n                                    1.0001115798950195,\n                                    1.0000137090682983,\n                            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                                  1.000045895576477,\n                                    0.9999911189079285\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\",\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_0\",\n                                \"category\": \"downlight\",\n                                \"model\": 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\"args\": {\n                                \"name\": \"downlight_fisfbn_11\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_12\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_13\": {\n                            \"class_module\": 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\"downlight_fisfbn_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_14\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_15\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_15\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_16\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_16\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_17\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_17\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_18\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_18\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_19\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_19\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_2\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_20\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_20\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_21\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_21\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_22\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_22\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_23\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_23\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_24\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_24\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_25\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_25\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_26\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_26\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_27\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_27\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_28\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_28\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_29\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_29\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_4\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_30\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_30\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"114c255a252ea9c8150c61fb2846c764\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_31\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_31\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"114c255a252ea9c8150c61fb2846c764\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_32\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_32\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"114c255a252ea9c8150c61fb2846c764\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_33\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_33\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"114c255a252ea9c8150c61fb2846c764\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_34\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_34\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_3\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_35\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_35\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_36\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_36\",\n                                \"category\": 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                           \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_38\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"114c255a252ea9c8150c61fb2846c764\",\n                                \"bddl_object_scope\": null\n                            }\n                     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                      }\n                        },\n                        \"downlight_fisfbn_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_fisfbn_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_fisfbn_6\",\n                                \"category\": \"downlight\",\n                                \"model\": \"fisfbn\",\n                                \"scale\": [\n                                    1.0000314712524414,\n                                    1.0000474452972412,\n                                    0.999656081199646\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n             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\"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_nlhffs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.0003280639648438,\n                                    1.0003280639648438,\n                                    0.9992011785507202\n                                ],\n                                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1.0003280639648438,\n                                    0.9992011785507202\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_nlhffs_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    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       \"name\": \"downlight_nlhffs_8\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.6001263856887817,\n                                    1.6001265048980713,\n                                    1.6000874042510986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_nlhffs_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_nlhffs_9\",\n                                \"category\": \"downlight\",\n                                \"model\": \"nlhffs\",\n                                \"scale\": [\n                                    1.6001263856887817,\n                                    1.6001265048980713,\n                                    1.6000874042510986\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_zojpvs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_0\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.0002968311309814,\n                                    0.998355507850647\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_zojpvs_1\": {\n                            \"class_module\": 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},\n                        \"downlight_zojpvs_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_3\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.0002968311309814,\n                                    0.998355507850647\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_zojpvs_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_4\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.0002968311309814,\n                                    0.998355507850647\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"downlight_zojpvs_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"downlight_zojpvs_5\",\n                                \"category\": \"downlight\",\n                                \"model\": \"zojpvs\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.0002968311309814,\n                                    0.998355507850647\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"driveway_hmbdky_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"driveway_hmbdky_0\",\n                                \"category\": \"driveway\",\n                                \"model\": \"hmbdky\",\n                                \"scale\": [\n                                    1.0000028610229492,\n                                    1.0000004768371582,\n                                    0.9998961091041565\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n             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                        \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_0\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"7d5a9357eed8525d23bd6f32c34cb1ed\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_1\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"7d5a9357eed8525d23bd6f32c34cb1ed\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_10\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_11\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_12\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_13\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_13\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_14\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n     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    \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"7d5a9357eed8525d23bd6f32c34cb1ed\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_2\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n              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\"name\": \"electric_switch_gashan_3\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"7d5a9357eed8525d23bd6f32c34cb1ed\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_4\": {\n                            \"class_module\": 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        ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"electric_switch_gashan_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"electric_switch_gashan_6\",\n                                \"category\": \"electric_switch\",\n                                \"model\": \"gashan\",\n                                \"scale\": [\n                                    1.0029717683792114,\n                                    0.999987781047821,\n                                    1.0004713535308838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n            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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_jrnfkt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_jrnfkt_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"jrnfkt\",\n                                \"scale\": [\n                                    1.0000758171081543,\n                                    0.9999938607215881,\n                    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\"args\": {\n                                \"name\": \"fixed_window_qvqecb_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"qvqecb\",\n                                \"scale\": [\n                                    1.0000144243240356,\n                                    0.9999813437461853,\n                                    0.9999730587005615\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_ropopf_0\": {\n                            \"class_module\": 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                               \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"5cab74ed84757fa53e45e89d1ef7c80f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_tspbac_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_tspbac_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"tspbac\",\n                                \"scale\": [\n  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}\n                        },\n                        \"fixed_window_usynui_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_usynui_1\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"usynui\",\n                                \"scale\": [\n                                    1.0003578662872314,\n                                    1.0000492334365845,\n                                    1.00001060962677\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_usynui_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_usynui_2\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"usynui\",\n                                \"scale\": [\n                                    1.0003578662872314,\n                                    1.0000492334365845,\n                                    1.00001060962677\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                  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                            \"scale\": [\n                                    1.0001177787780762,\n                                    1.0000196695327759,\n                                    0.9999884366989136\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"entryway_0\",\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"fixed_window_yzxhbp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"fixed_window_yzxhbp_0\",\n                                \"category\": \"fixed_window\",\n                                \"model\": \"yzxhbp\",\n                                \"scale\": [\n                                    1.0001453161239624,\n                                    0.9999899864196777,\n                                    1.000024437904358\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_fpnxmg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": 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                         \"name\": \"floors_glwobe_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"glwobe\",\n                                \"scale\": [\n                                    0.9999873042106628,\n                                    1.000001072883606,\n                                    0.9999303221702576\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_hkdmte_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_hkdmte_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"hkdmte\",\n                                \"scale\": [\n                                    0.9999957084655762,\n                                    1.0000003576278687,\n                                    0.9999340772628784\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_htolat_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_htolat_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"htolat\",\n                                \"scale\": [\n                                    1.0000059604644775,\n                                    0.9999916553497314,\n                                    0.9999321699142456\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_khjmrr_0\": {\n                            \"class_module\": 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 \"floors_lltizc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_lltizc_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"lltizc\",\n                                \"scale\": [\n                                    0.9999966025352478,\n                                    1.0000096559524536,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_2\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_mawnss_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_mawnss_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"mawnss\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    0.9999998807907104,\n                                    0.9999321699142456\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_mdozod_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_mdozod_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"mdozod\",\n                                \"scale\": [\n                                    0.999998152256012,\n                                    1.0000052452087402,\n                                    0.999959409236908\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_pyoemr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_pyoemr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"pyoemr\",\n                                \"scale\": [\n                                    0.9999998807907104,\n                                    1.000001072883606,\n                                    0.9998313188552856\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_qgmjvd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_qgmjvd_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"qgmjvd\",\n                                \"scale\": [\n                                    1.0000057220458984,\n                                    1.000015377998352,\n                                    0.9998500943183899\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"dining_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_qnvzkr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_qnvzkr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"qnvzkr\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.000004529953003,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"49a30189c5da559f48df9673eaa1b58d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_shuuqu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_shuuqu_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"shuuqu\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    1.0000165700912476,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_sirgua_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_sirgua_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"sirgua\",\n                                \"scale\": [\n                                    0.9999985098838806,\n                                    1.0000005960464478,\n                                    1.00011146068573\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_uftgek_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_uftgek_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"uftgek\",\n                                \"scale\": [\n                                    1.0000008344650269,\n                                    1.0000061988830566,\n                       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1.0000057220458984,\n                                    0.9999462366104126\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_vcsslq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vcsslq_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vcsslq\",\n                                \"scale\": [\n                                    1.0000104904174805,\n                                    1.0000070333480835,\n                                    0.9999312162399292\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"66e796acd1bbc018cf5c02abba347293\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_vmamhf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_vmamhf_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"vmamhf\",\n                                \"scale\": [\n                                    1.0000053644180298,\n                                    1.0000113248825073,\n                                    0.9999330043792725\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\"\n                                ],\n                                \"expected_file_hash\": \"e0057ecb95038e004d9f439ff29732a5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_wkdxrr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_wkdxrr_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"wkdxrr\",\n                                \"scale\": [\n                                    1.0000061988830566,\n                                    0.999998152256012,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_yfyxxu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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                    \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"floors_yibjol_0\",\n                                \"category\": \"floors\",\n                                \"model\": \"yibjol\",\n                                \"scale\": [\n                                    1.0000231266021729,\n                                    0.9999783039093018,\n                                    0.9999303221702576\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"floors_yrqspn_0\": {\n                            \"class_module\": 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                        \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"gas_fireplace_gwqitr_0\",\n                                \"category\": \"gas_fireplace\",\n                                \"model\": \"gwqitr\",\n                                \"scale\": [\n                                    0.9999507069587708,\n                                    0.9999906420707703,\n                                    1.0000510215759277\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"lawn_wwoqjw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"lawn_wwoqjw_0\",\n                                \"category\": \"lawn\",\n                                \"model\": \"wwoqjw\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    0.9999285936355591\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_catitv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_catitv_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"catitv\",\n                                \"scale\": [\n                                    0.9931772351264954,\n                                    1.000032901763916,\n                                    0.9999788403511047\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"mirror_ffoudz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"mirror_ffoudz_0\",\n                                \"category\": \"mirror\",\n                                \"model\": \"ffoudz\",\n                                \"scale\": [\n                                    0.9931357502937317,\n                                    1.000022530555725,\n                                    0.999993085861206\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                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                           \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"pot_plant_xcybvc_4\",\n                                \"category\": \"pot_plant\",\n                                \"model\": \"xcybvc\",\n                                \"scale\": [\n                                    0.9999788403511047,\n                                    0.9999895691871643,\n                                    0.9999873638153076\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n       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    \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_3\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_amyper_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n    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                      \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_amyper_7\",\n                                \"category\": \"shelf\",\n                                \"model\": \"amyper\",\n                                \"scale\": [\n                                    1.0000708103179932,\n                                    1.0000263452529907,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        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                    }\n                        },\n                        \"shelf_pfusrd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_0\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shelf_pfusrd_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shelf_pfusrd_1\",\n                                \"category\": \"shelf\",\n                                \"model\": \"pfusrd\",\n                                \"scale\": [\n                                    1.0000033378601074,\n                                    0.9999434351921082,\n                                    1.0000749826431274\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"shower_qkgvsz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"shower_qkgvsz_0\",\n                                \"category\": \"shower\",\n                                \"model\": \"qkgvsz\",\n                                \"scale\": [\n                                    0.9999993443489075,\n                                    0.9999734163284302,\n                                    0.9996344447135925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_kdvrbf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_kdvrbf_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"kdvrbf\",\n                                \"scale\": [\n                                    0.9998995661735535,\n                                    1.0000202655792236,\n                                    1.000028371810913\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_lrfpvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_lrfpvk_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"lrfpvk\",\n                                \"scale\": [\n                                    0.9998265504837036,\n                                    1.0000230073928833,\n                                    1.000001072883606\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_vbijwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vbijwn_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vbijwn\",\n                                \"scale\": [\n                                    0.9999907612800598,\n                                    1.0001437664031982,\n                                    0.9999953508377075\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"showerhead_vuswbv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"showerhead_vuswbv_0\",\n                                \"category\": \"showerhead\",\n                                \"model\": \"vuswbv\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000184416770935,\n                                    0.9999966621398926\n                      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       \"scale\": [\n                                    1.0007404088974,\n                                    1.0000165700912476,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_1\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0632356405258179,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_10\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_10\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.001861810684204,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"bathroom_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_11\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_11\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.088773250579834,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_12\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_12\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.2041987180709839,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_2\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.828336775302887,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_2\",\n                                    \"closet_3\"\n                                ],\n                                \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_3\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9631685018539429,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_0\",\n                                    \"closet_2\"\n                                ],\n                                \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_4\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.748390257358551,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_5\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.0907971858978271,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_6\": {\n                            \"class_module\": 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               \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_7\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_7\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    1.115620493888855,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"corridor_0\",\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_8\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_8\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.7850596904754639,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\",\n                                    \"closet_4\"\n                                ],\n                                \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sliding_door_tprpvb_9\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sliding_door_tprpvb_9\",\n                                \"category\": \"sliding_door\",\n                                \"model\": \"tprpvb\",\n                                \"scale\": [\n                                    1.0007404088974,\n                                    0.9854320883750916,\n                                    1.0000112056732178\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\",\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_hiphpn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_hiphpn_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"hiphpn\",\n                                \"scale\": [\n                                    1.0000189542770386,\n                                    1.000008463859558,\n                                    1.0000444650650024\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_0\",\n                                \"category\": \"sofa\",\n                                \"model\": \"lugrhk\",\n                                \"scale\": [\n                                    1.0000072717666626,\n                                    0.9999846816062927,\n                                    1.000067949295044\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"sofa_lugrhk_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"sofa_lugrhk_1\",\n                                \"category\": \"sofa\",\n                                \"model\": 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                       \"model\": \"wnzdke\",\n                                \"scale\": [\n                                    0.9999887943267822,\n                                    1.0000040531158447,\n                                    0.9999432563781738\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"swimming_pool_vnvmkx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"swimming_pool_vnvmkx_0\",\n                                \"category\": \"swimming_pool\",\n                                \"model\": \"vnvmkx\",\n                                \"scale\": [\n                                    0.9999980926513672,\n                                    1.0000009536743164,\n                                    1.0000349283218384\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tabletop_sink_qnequy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_0\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"qnequy\",\n                                \"scale\": [\n                                    1.000011920928955,\n                                    0.9999924302101135,\n                                    0.9999474287033081\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tabletop_sink_qnequy_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_qnequy_1\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"qnequy\",\n                                \"scale\": [\n                                    1.000011920928955,\n                                    0.9999924302101135,\n                                    0.9999474287033081\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"tabletop_sink_vekaaf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tabletop_sink_vekaaf_0\",\n                                \"category\": \"tabletop_sink\",\n                                \"model\": \"vekaaf\",\n                                \"scale\": [\n                                    1.0000910758972168,\n                                    1.0000029802322388,\n                                    1.0000871419906616\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_0\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_1\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"top_cabinet_lkxmne_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"top_cabinet_lkxmne_2\",\n                                \"category\": \"top_cabinet\",\n                                \"model\": \"lkxmne\",\n                                \"scale\": [\n                                    0.9998805522918701,\n                                    1.000040054321289,\n                                    1.0000317096710205\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"kitchen_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_clock_oqmbtp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_clock_oqmbtp_0\",\n                                \"category\": \"wall_clock\",\n                                \"model\": \"oqmbtp\",\n                                \"scale\": [\n                                    1.0004478693008423,\n                                    1.000062108039856,\n                                    0.9999592900276184\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"childs_room_1\"\n                                ],\n                                \"expected_file_hash\": \"40756294f9a57beeaaba6d624d9373b4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_bkaivt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_bkaivt_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"bkaivt\",\n                                \"scale\": [\n                                    1.00009024143219,\n                                    0.9999925494194031,\n                                    0.9996886849403381\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_jhpygl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_jhpygl_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"jhpygl\",\n                                \"scale\": [\n                                    1.0002127885818481,\n                                    0.9999200105667114,\n                                    0.9997442960739136\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_urhftt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_urhftt_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"urhftt\",\n                                \"scale\": [\n                                    1.0001182556152344,\n                                    0.9999893307685852,\n                                    0.9996898174285889\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bathroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_0\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_1\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_2\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_3\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_light_yylrlu_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_light_yylrlu_4\",\n                                \"category\": \"wall_mounted_light\",\n                                \"model\": \"yylrlu\",\n                                \"scale\": [\n                                    1.0000600814819336,\n                                    0.9999998807907104,\n                                    1.0\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_1\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_leeqgt_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_leeqgt_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"leeqgt\",\n                                \"scale\": [\n                                    1.000305414199829,\n                                    0.9999998807907104,\n                                    0.9999710321426392\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"bedroom_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wall_mounted_tv_ovzajm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wall_mounted_tv_ovzajm_0\",\n                                \"category\": \"wall_mounted_tv\",\n                                \"model\": \"ovzajm\",\n                                \"scale\": [\n                                    1.0003174543380737,\n                                    0.9999998211860657,\n                                    0.999970555305481\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"living_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_aescmv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_aescmv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"aescmv\",\n                                \"scale\": [\n                                    0.9999967813491821,\n                                    0.9998936653137207,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"dbfd88506a4a0ee90f9f9eb2bde10a51\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ahpkeh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ahpkeh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ahpkeh\",\n                                \"scale\": [\n                                    1.0000147819519043,\n                                    0.9997085332870483,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"572c693d86a8b348fddb4b5649363d68\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_akntsr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_akntsr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"akntsr\",\n                                \"scale\": [\n                                    0.9997666478157043,\n                                    1.0000017881393433,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cea7e63b3f08a69649fcff206918e564\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_anepvh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_anepvh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"anepvh\",\n                                \"scale\": [\n                                    0.9999486804008484,\n                                    1.000133752822876,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"688b8dc5bb09bc2db6f6b7ea1f9569a6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_axkjhh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_axkjhh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"axkjhh\",\n                                \"scale\": [\n                                    1.0000401735305786,\n                                    0.9999582171440125,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d9f2a527b221fefec6292ede0e153525\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_babjhv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_babjhv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"babjhv\",\n                                \"scale\": [\n                                    0.9998753070831299,\n                                    0.9999241232872009,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"792a18d09596d4a86cb269c948e2bd88\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_baibaz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_baibaz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"baibaz\",\n                                \"scale\": [\n                                    1.0000454187393188,\n                                    1.0000240802764893,\n                                    0.9999918937683105\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"49abbffb2b729d45c2e73f65f85229a3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bpbucg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bpbucg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bpbucg\",\n                                \"scale\": [\n                                    0.9998854398727417,\n                                    0.9999871253967285,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b4df3a51a4462586e8c2982ef07b5242\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_bqocyc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_bqocyc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"bqocyc\",\n                                \"scale\": [\n                                    0.9998852014541626,\n                                    1.0000405311584473,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fd6b57a3af533f0ae0bdc9eb5ca997b5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_btcoak_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_btcoak_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"btcoak\",\n                                \"scale\": [\n                                    1.0000944137573242,\n                                    0.9999912977218628,\n                                    0.9999747276306152\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"acc7558336b5ccb31e891ff29d43f948\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chsrxr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chsrxr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chsrxr\",\n                                \"scale\": [\n                                    0.9999439120292664,\n                                    1.000038981437683,\n                                    1.0000029802322388\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b0297ee2ea728607e9681ea6edc4efde\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_chtiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_chtiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"chtiea\",\n                                \"scale\": [\n                                    1.0002912282943726,\n                                    0.9999908804893494,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ca811a7a31250217b5d0a8d5dca34caf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cjxcfc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cjxcfc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"cjxcfc\",\n                                \"scale\": [\n                                    1.000046730041504,\n                                    1.0000485181808472,\n                                    1.0000022649765015\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e36639f1362695c991e7f9d4d473f8b5\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_cnlgjq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_cnlgjq_0\",\n                                \"category\": \"walls\",\n                                \"model\": 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\"walls\",\n                                \"model\": \"cnqnew\",\n                                \"scale\": [\n                                    1.0000557899475098,\n                                    1.0002148151397705,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"83dbb24f7783ec8d26e2423f5f960b20\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dhsptd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dhsptd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dhsptd\",\n                                \"scale\": [\n                                    0.9999762773513794,\n                                    1.0000284910202026,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d13d2fde7eebf86b3743ffd4b5fd3eae\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_dmdnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_dmdnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"dmdnmr\",\n                                \"scale\": [\n                                    1.0000286102294922,\n                                    0.9999963045120239,\n                                    0.9999678730964661\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d5ffe7ca17e78227d37753e102574695\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duatwe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duatwe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duatwe\",\n                                \"scale\": [\n                                    1.0000064373016357,\n                                    0.9996722340583801,\n                                    1.0001468658447266\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bd0c5c6c8bb3ee124f9cc463e38c8533\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_duepvi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_duepvi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"duepvi\",\n                                \"scale\": [\n                                    1.000002145767212,\n                                    0.9998845458030701,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ccfb14013764c4c6aa26f0e017b9e338\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_esuxme_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_esuxme_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"esuxme\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    1.0000441074371338\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"219a7d6ce6bd6ff303aaee10e41b28e1\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_evgaml_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_evgaml_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"evgaml\",\n                                \"scale\": [\n                                    1.0001057386398315,\n                                    0.9999967813491821,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ff2af9b9c235fa4bdd4ad93b4b25c24d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fdxtnx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fdxtnx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fdxtnx\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    0.9998922348022461,\n                                    0.9998988509178162\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6cb6c78f020b271bf4d606f1b6fefc4c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ffeqfb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ffeqfb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ffeqfb\",\n                                \"scale\": [\n                                    1.000000238418579,\n                                    1.0001003742218018,\n                                    1.0000234842300415\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e91173336bb97a89601149f412f86cb7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fglkmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fglkmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fglkmr\",\n                                \"scale\": [\n                                    0.9999951124191284,\n                                    1.0000271797180176,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b6da3421924ac7416f310f381b0d9e2c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fkmigx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fkmigx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fkmigx\",\n                                \"scale\": [\n                                    0.9999145865440369,\n                                    1.0000003576278687,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e3d4039b0f704088d486e6a75871fa0e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_frgwwc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_frgwwc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"frgwwc\",\n                                \"scale\": [\n                                    1.0000039339065552,\n                                    1.0000317096710205,\n                                    1.0000046491622925\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cca1d891a53479d206a83f502d13aa51\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fuiqpw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fuiqpw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fuiqpw\",\n                                \"scale\": [\n                                    0.9999467730522156,\n                                    1.000038743019104,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3bbe87114677c4707e61198f39ce86e3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fvckzc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fvckzc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fvckzc\",\n                                \"scale\": [\n                                    0.9998689293861389,\n                                    0.9999626278877258,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fb8fa3b7eacf958c87b71f5dcebf4910\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxeanq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxeanq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxeanq\",\n                                \"scale\": [\n                                    0.9999138712882996,\n                                    0.999982476234436,\n                                    1.0000100135803223\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"21390db10f570a779986a1549e81e287\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fxofyj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fxofyj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fxofyj\",\n                                \"scale\": [\n                                    1.0000901222229004,\n                                    0.9999547004699707,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ef40d20dc4227676a9f58e2842baeb34\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_fyjrnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_fyjrnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"fyjrnv\",\n                                \"scale\": [\n                                    0.999866783618927,\n                                    0.9999337792396545,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0f2d999bfd3e92eef4d5f2dd66ee110a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ggtriw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ggtriw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ggtriw\",\n                                \"scale\": [\n                                    1.0001455545425415,\n                                    0.9999977946281433,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1e8c3031836a24ec9d74ac46cf5fe3bd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gjrlnv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gjrlnv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gjrlnv\",\n                                \"scale\": [\n                                    0.9999542236328125,\n                                    1.000038743019104,\n                                    1.0000239610671997\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e2d2cf1ec59adbf6602c97fb602a3389\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmbnp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmbnp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmbnp\",\n                                \"scale\": [\n                                    0.9999883770942688,\n                                    1.0000717639923096,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"40235c73d6da3b9a1751c047ac603e82\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkmwvy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkmwvy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkmwvy\",\n                                \"scale\": [\n                                    1.0000468492507935,\n                                    0.9999639987945557,\n                                    0.9999344944953918\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"40bc3ce0065d72255bff5d12711a9d2b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gkwemu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gkwemu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gkwemu\",\n                                \"scale\": [\n                                    0.9997715950012207,\n                                    0.9999929666519165,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8d7af0573ca92d7095ef58888bc8b62b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gmwqcf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gmwqcf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gmwqcf\",\n                                \"scale\": [\n                                    0.9999575018882751,\n                                    1.0000061988830566,\n                                    1.0005370378494263\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"aa0dbd151d7d2373799994cdf91578e7\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gpfsgj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gpfsgj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gpfsgj\",\n                                \"scale\": [\n                                    0.999993085861206,\n                                    1.0000206232070923,\n                                    0.9999555349349976\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6983bd767db5310561d92686ac74bd5c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_grbaxo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_grbaxo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"grbaxo\",\n                                \"scale\": [\n                                    0.9998166561126709,\n                                    0.9999743700027466,\n                                    0.9999679923057556\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9853dc5d2f73ac221700533d8ae56c8c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_gupuvk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_gupuvk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"gupuvk\",\n                                \"scale\": [\n                                    0.9999587535858154,\n                                    1.000302791595459,\n                                    1.0000627040863037\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ffe17a266a521b2899cb1339bc7aeb77\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_guxxwh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_guxxwh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"guxxwh\",\n                                \"scale\": [\n                                    0.9998859167098999,\n                                    1.0000396966934204,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0187f923440719edebaf2b98a7dec4ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hajmoj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hajmoj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hajmoj\",\n                                \"scale\": [\n                                    1.000004768371582,\n                                    0.9999983310699463,\n                                    0.9999830722808838\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"sauna_0\",\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"78dc7dcced25b9f011f2a51a2fd514f3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hbacbx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hbacbx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hbacbx\",\n                                \"scale\": [\n                                    1.0000141859054565,\n                                    1.000041127204895,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9f30a57ce806c2dcf6d393ff0876e885\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hczqhb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hczqhb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hczqhb\",\n                                \"scale\": [\n                                    1.0000282526016235,\n                                    0.999974250793457,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"783cd676b9cbb25edc46d29daec2f5a2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hfxeuh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hfxeuh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hfxeuh\",\n                                \"scale\": [\n                                    0.9997124075889587,\n                                    0.9999848008155823,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e6b973ef596afe2bc14120c2dc56ad8e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hgaazx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hgaazx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hgaazx\",\n                                \"scale\": [\n                                    0.9999676942825317,\n                                    0.9998993277549744,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8c5b7e2e9c9182ee7df6de4eeac00ebc\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hhbfdf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hhbfdf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hhbfdf\",\n                                \"scale\": [\n                                    1.000022292137146,\n                                    0.9999868273735046,\n                                    0.9999457001686096\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"05c00ad92ff054216c905c4edda17751\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hoyudj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hoyudj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hoyudj\",\n                                \"scale\": [\n                                    1.000164270401001,\n                                    0.9999976754188538,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"03a7547cc8d2c017663f616b5fb95445\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hqkpgu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hqkpgu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hqkpgu\",\n                                \"scale\": [\n                                    1.000036597251892,\n                                    0.9997795820236206,\n                                    1.000002384185791\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e89793abd705892d8f3077df93a93b25\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_htpoqj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_htpoqj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"htpoqj\",\n                                \"scale\": [\n                                    1.0000275373458862,\n                                    1.000287413597107,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"253929fa25c12fcac5f4701c2f685273\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hwzmyf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hwzmyf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hwzmyf\",\n                                \"scale\": [\n                                    1.0001691579818726,\n                                    1.0000174045562744,\n                                    1.0000296831130981\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b79c5236e3fafb083aeb52b29c4bc612\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzepkq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzepkq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzepkq\",\n                                \"scale\": [\n                                    0.9999510049819946,\n                                    1.0000250339508057,\n                                    1.0000377893447876\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3b72bd2326fe4af51c28f8f0bcd98697\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_hzhlyw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_hzhlyw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"hzhlyw\",\n                                \"scale\": [\n                                    1.0000052452087402,\n                                    0.9999136924743652,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2b5b21614eabb4db4fb1345372300567\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ipoatq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ipoatq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ipoatq\",\n                                \"scale\": [\n                                    0.9999895095825195,\n                                    0.9999748468399048,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"da0ecf664aacb29afef39a5278debc50\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_isnclr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_isnclr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"isnclr\",\n                                \"scale\": [\n                                    0.9999971985816956,\n                                    0.9999990463256836,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2f9a660e0a520e31b4294f81b3396f1d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ivezzr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ivezzr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ivezzr\",\n                                \"scale\": [\n                                    0.999926745891571,\n                                    1.000006914138794,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fdc41b109183b41834afb7104e28ab58\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_izcwsg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_izcwsg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"izcwsg\",\n                                \"scale\": [\n                                    0.9998259544372559,\n                                    1.0001044273376465,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b96b74e815c8e406c52c8d399db74857\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jbwydo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jbwydo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jbwydo\",\n                                \"scale\": [\n                                    0.9999164342880249,\n                                    1.0001364946365356,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"375c74ee5fa099c921543298402b7e30\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jshqhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jshqhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jshqhr\",\n                                \"scale\": [\n                                    1.0000842809677124,\n                                    1.0000399351119995,\n                                    0.9999491572380066\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9d33ad007192d2f629bccd493ebd0318\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_jxctiw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_jxctiw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"jxctiw\",\n                                \"scale\": [\n                                    1.0003010034561157,\n                                    0.9999635815620422,\n                                    1.0000308752059937\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3cff0e6153986c4c3c283f332ff02588\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_khkkca_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_khkkca_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"khkkca\",\n                                \"scale\": [\n                                    0.9999955892562866,\n                                    0.9997677803039551,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"932a8313952d8ab3128d1182160b16d2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_kkltnz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_kkltnz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"kkltnz\",\n                                \"scale\": [\n                                    0.9999747276306152,\n                                    1.0001676082611084,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"bb7b72fb7914cded7f09e9c82de750ae\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_knhryu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_knhryu_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"knhryu\",\n                                \"scale\": [\n                                    0.9999251961708069,\n                                    0.9999673366546631,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ab31baa16102ee5f93a4771d2b36271f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ktvxpa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ktvxpa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ktvxpa\",\n                                \"scale\": [\n                                    1.0000466108322144,\n                                    1.000028133392334,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"428d3fb56a28cd7ac2982440435695df\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lbxvwa_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lbxvwa_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lbxvwa\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0000089406967163,\n                                    1.0000019073486328\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2dca4180cae088f5a7170d442f375f57\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lmjkkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lmjkkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lmjkkp\",\n                                \"scale\": [\n                                    0.9999988079071045,\n                                    0.9998951554298401,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d8e9b5937923a46ed2baeed43e0d38ce\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ltqrqp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ltqrqp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ltqrqp\",\n                                \"scale\": [\n                                    1.0001306533813477,\n                                    0.9999893307685852,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4bf966d05f9f69da2b021f75c0b41935\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lveewk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lveewk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lveewk\",\n                                \"scale\": [\n                                    0.9999539852142334,\n                                    0.9998413920402527,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"96ad80da77cc953de2315beeadfa300e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lxqjnd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lxqjnd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lxqjnd\",\n                                \"scale\": [\n                                    1.0001026391983032,\n                                    0.9999812841415405,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4ac35d97ae78e9f4393a510c5630a8bd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_lzkdkf_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_lzkdkf_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"lzkdkf\",\n                                \"scale\": [\n                                    1.0000964403152466,\n                                    0.9999716877937317,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ed6cd188b98e15058bf9944b1503e822\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mgwnwy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mgwnwy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mgwnwy\",\n                                \"scale\": [\n                                    0.9999656677246094,\n                                    1.0001095533370972,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8337642824201857fb92b600f63eacb4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mianco_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mianco_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mianco\",\n                                \"scale\": [\n                                    1.0000030994415283,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d78731027b394d87b744ebae6eefd297\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_mxhvpj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_mxhvpj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"mxhvpj\",\n                                \"scale\": [\n                                    0.9999787211418152,\n                                    1.0001676082611084,\n                                    1.0000613927841187\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b9107579d88176b18b8d9111589191fa\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nfmhed_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nfmhed_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nfmhed\",\n                                \"scale\": [\n                                    0.9999906420707703,\n                                    1.0001713037490845,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ce48f1b760b112318ac81c37ebda5b05\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nhvigl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nhvigl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nhvigl\",\n                                \"scale\": [\n                                    1.0002909898757935,\n                                    0.9999896883964539,\n                                    1.0000035762786865\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1b28c55d2393a843b5e807aaca4eedae\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_noclci_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_noclci_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"noclci\",\n                                \"scale\": [\n                                    1.0002578496932983,\n                                    0.9999694228172302,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ca75d79f3660cb304435d138f2356e97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_nuaoac_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_nuaoac_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"nuaoac\",\n                                \"scale\": [\n                                    1.000181794166565,\n                                    0.9999966621398926,\n                                    1.0000261068344116\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"77c09e9203761f98376139c19ec78f7c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oehfxy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oehfxy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oehfxy\",\n                                \"scale\": [\n                                    1.000117301940918,\n                                    1.0000636577606201,\n                                    0.9999576807022095\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c7ec3b4364e4099589e859a8cca3d97b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olxjsy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olxjsy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olxjsy\",\n                                \"scale\": [\n                                    1.0000041723251343,\n                                    0.9997128248214722,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6b924076d43c623bb22b12bb840dde70\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_olywna_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_olywna_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"olywna\",\n                                \"scale\": [\n                                    0.9999077916145325,\n                                    1.0000104904174805,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c60a8640d3cad878cc06809c405532d2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ondmvj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ondmvj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ondmvj\",\n                                \"scale\": [\n                                    1.0001270771026611,\n                                    1.0000394582748413,\n                                    0.9999598860740662\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"0c886b2c6a523c77e87adf4e6c299629\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_onwdhr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_onwdhr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"onwdhr\",\n                                \"scale\": [\n                                    0.999975860118866,\n                                    0.9998258948326111,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cb81db9a6e5a153127bf61e3e4c9a69a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ooixcz_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ooixcz_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ooixcz\",\n                                \"scale\": [\n                                    1.0000063180923462,\n                                    1.0000216960906982,\n                                    0.9999969005584717\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ee44833be9530738b4f29cc9fe048186\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_oyhdlq_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_oyhdlq_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"oyhdlq\",\n                                \"scale\": [\n                                    0.9998031258583069,\n                                    1.0000176429748535,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"b56c5977d6882a254270e7839240ced4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_paognv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_paognv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"paognv\",\n                                \"scale\": [\n                                    1.000030517578125,\n                                    1.0002267360687256,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"000b8403bbda812283240c6f5d805e9a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pdahqy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pdahqy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pdahqy\",\n                                \"scale\": [\n                                    0.9997052550315857,\n                                    1.0000066757202148,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"75804602b21d60a0b968d8eaf7e5a349\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pofjys_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pofjys_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pofjys\",\n                                \"scale\": [\n                                    1.0000216960906982,\n                                    1.000051498413086,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"267ad30ae3cb9056d130ecbdd2674296\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pozods_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pozods_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pozods\",\n                                \"scale\": [\n                                    1.0000250339508057,\n                                    1.0000290870666504,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"93eb6d76f12395a7be7c91cb624af262\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_pwjyds_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_pwjyds_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"pwjyds\",\n                                \"scale\": [\n                                    1.000086784362793,\n                                    0.9999912977218628,\n                                    0.9999852776527405\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"317b90726910038b954257c49a5ec9de\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qlnqyd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qlnqyd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qlnqyd\",\n                                \"scale\": [\n                                    1.0002201795578003,\n                                    1.0000241994857788,\n                                    1.0000104904174805\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"73cfe60e0db97ed27c169e9916105862\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpkfgi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpkfgi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpkfgi\",\n                                \"scale\": [\n                                    1.0001020431518555,\n                                    1.0000150203704834,\n                                    0.9999968409538269\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6194fc6f671490e8331b62a743ff3963\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qpxhxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qpxhxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qpxhxd\",\n                                \"scale\": [\n                                    1.0000958442687988,\n                                    0.9999675750732422,\n                                    0.9999513030052185\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2efc4a720bbda24b6d22f539bd31a67c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qsvtbs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qsvtbs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qsvtbs\",\n                                \"scale\": [\n                                    1.000019907951355,\n                                    1.0001133680343628,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"db7a9975eef5fd60b4842320592981ba\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_qzwuwo_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_qzwuwo_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"qzwuwo\",\n                                \"scale\": [\n                                    1.0000032186508179,\n                                    0.9999549388885498,\n                                    1.000033974647522\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"ad2dcdccf3ddf5dc7bd73cd8fd4f5fa6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rdcvhx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rdcvhx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rdcvhx\",\n                                \"scale\": [\n                                    0.9998269081115723,\n                                    0.999972403049469,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9c4af29d004a8736b4270d33442831b6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rfpiin_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rfpiin_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rfpiin\",\n                                \"scale\": [\n                                    0.9998872876167297,\n                                    0.9998480081558228,\n                                    1.0000982284545898\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1a9c2c099aadc4104e7926eb4b84d92d\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_rogorx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_rogorx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"rogorx\",\n                                \"scale\": [\n                                    1.0000121593475342,\n                                    0.9997554421424866,\n                                    1.0000357627868652\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"12134f9ffce3bfab2d4aba228fb6b295\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_sgqckc_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_sgqckc_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"sgqckc\",\n                                \"scale\": [\n                                    1.00001859664917,\n                                    1.0001447200775146,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"25dd307cc6e2555feaa10f4bb3d35f89\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_skoxkp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_skoxkp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"skoxkp\",\n                                \"scale\": [\n                                    0.9999924898147583,\n                                    1.0000261068344116,\n                                    0.9999475479125977\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"fa49811ed63fa19e88e5cbdb2a0d0f2f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_snssjy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_snssjy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"snssjy\",\n                                \"scale\": [\n                                    0.9999773502349854,\n                                    1.0001850128173828,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8cde28a0f71f18586ddc8e285fb00b97\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_somuet_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_somuet_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"somuet\",\n                                \"scale\": [\n                                    1.000002384185791,\n                                    1.0000072717666626,\n                                    1.000004768371582\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garage_0\"\n                                ],\n                                \"expected_file_hash\": \"894adf15ea1dedb5e20e7ad49601edbb\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_soubdp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_soubdp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"soubdp\",\n                                \"scale\": [\n                                    0.9998795390129089,\n                                    1.000030517578125,\n                                    1.0000603199005127\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"36e3a931a25f8665fc4ac148f0cba547\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tcizfi_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tcizfi_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tcizfi\",\n                                \"scale\": [\n                                    1.0000131130218506,\n                                    1.0001007318496704,\n                                    0.9999462962150574\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c1e977bc2e207836ab690faa28df8f94\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tdzxzv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tdzxzv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tdzxzv\",\n                                \"scale\": [\n                                    0.999958336353302,\n                                    1.000003457069397,\n                                    1.0000277757644653\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9e28d7e12a49114e44bdc6cff67288ca\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_thipzw_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_thipzw_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"thipzw\",\n                                \"scale\": [\n                                    1.000144362449646,\n                                    0.9999874234199524,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9284f86602919fd0a1e34e0b6ec71697\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tlcifm_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tlcifm_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tlcifm\",\n                                \"scale\": [\n                                    0.9999516606330872,\n                                    0.9999920129776001,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"c5c2c0f4862e8cbe763f09229e6d2d30\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tvjrao_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tvjrao_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tvjrao\",\n                                \"scale\": [\n                                    1.0000044107437134,\n                                    0.9997362494468689,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d6cd2b88a17c1249f31ae46864ddd5e3\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_tyjlww_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_tyjlww_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"tyjlww\",\n                                \"scale\": [\n                                    0.999956488609314,\n                                    1.0001850128173828,\n                                    0.9999752640724182\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"be1d0b942904b32df1eb8d0fe280f17c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubgakb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubgakb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubgakb\",\n                                \"scale\": [\n                                    0.9999848008155823,\n                                    1.0,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"02f9db48d83bf5ad1e4064889a378b93\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_ubscrh_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_ubscrh_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"ubscrh\",\n                                \"scale\": [\n                                    1.0000135898590088,\n                                    0.9998775124549866,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"8dc0acfe82298c3adfc9207eb0a6d284\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udgvuj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udgvuj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udgvuj\",\n                                \"scale\": [\n                                    0.9998785257339478,\n                                    0.9998557567596436,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"e086eef73dcf3f92be27d41c85757840\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_udqkcs_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_udqkcs_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"udqkcs\",\n                                \"scale\": [\n                                    0.9999690055847168,\n                                    0.9999529719352722,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"212a41f590ee0e31aef0da9ac8da7396\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uplnmr_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uplnmr_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uplnmr\",\n                                \"scale\": [\n                                    1.0001013278961182,\n                                    0.9999964237213135,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"afb0339b67dc52630af77ab1d15ce3dd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_urngpl_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_urngpl_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"urngpl\",\n                                \"scale\": [\n                                    0.9999960660934448,\n                                    1.0001499652862549,\n                                    1.0000107288360596\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"cc0807bb98ee628b60632278fe74278e\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uubhfj_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uubhfj_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uubhfj\",\n                                \"scale\": [\n                                    0.9999725222587585,\n                                    0.9998858571052551,\n                                    0.9999997019767761\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"3e513d6aba71ebad294a4a6140e62cd8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uuxqzk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uuxqzk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uuxqzk\",\n                                \"scale\": [\n                                    0.9997155070304871,\n                                    0.999993085861206,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"5b9f20d7ed8d1c11d1a875e1257f3d89\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uvgxro_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uvgxro_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uvgxro\",\n                                \"scale\": [\n                                    1.0002046823501587,\n                                    1.000001311302185,\n                                    0.9999594688415527\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"239d39fa46db31f26a39415e6bc15ee8\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxcfbp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxcfbp_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxcfbp\",\n                                \"scale\": [\n                                    1.0000423192977905,\n                                    0.9998830556869507,\n                                    1.0000033378601074\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"6d73f688c8fb0871c87145b23c420d6a\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uxgkxd_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uxgkxd_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uxgkxd\",\n                                \"scale\": [\n                                    1.0001400709152222,\n                                    0.9999704957008362,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f2e4fdead055e88f9f896a2d9c2b95db\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_uzxqqb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_uzxqqb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"uzxqqb\",\n                                \"scale\": [\n                                    0.999995768070221,\n                                    1.0001778602600098,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"d595c94aa50f86173ae1cb3a533923f6\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcftmx_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcftmx_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcftmx\",\n                                \"scale\": [\n                                    1.0000114440917969,\n                                    1.0001753568649292,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"4cb855788369e3ec21be155076fccdd4\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vcgulk_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vcgulk_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vcgulk\",\n                                \"scale\": [\n                                    1.000012755393982,\n                                    1.0000059604644775,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"032c2477ea47f237a6ff0cb1db36bbf2\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vdywfg_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vdywfg_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vdywfg\",\n                                \"scale\": [\n                                    0.999976634979248,\n                                    1.0002204179763794,\n                                    1.0000320672988892\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"028b0a655109e7bdd0776720bd6cc2c0\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vfibix_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vfibix_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vfibix\",\n                                \"scale\": [\n                                    1.0000523328781128,\n                                    1.0000444650650024,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"1659d93f5b9765d68004993f6a8fe9cd\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vmsoas_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vmsoas_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vmsoas\",\n                                \"scale\": [\n                                    1.0000299215316772,\n                                    1.0000975131988525,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"f838b7bb28d1e90f21172182bb78d510\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_vpuhwn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_vpuhwn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"vpuhwn\",\n                                \"scale\": [\n                                    0.99983149766922,\n                                    1.0000014305114746,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2bc34e11e37182529f6bbde421562504\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wbjwyy_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wbjwyy_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wbjwyy\",\n                                \"scale\": [\n                                    1.0000293254852295,\n                                    0.9999871253967285,\n                                    1.0000094175338745\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"870bcda543bc0b170c3a955c57627101\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_1\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_1\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_2\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_2\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_3\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_3\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_4\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_4\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_5\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_5\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wjlqlb_6\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wjlqlb_6\",\n                                \"category\": \"walls\",\n                                \"model\": \"wjlqlb\",\n                                \"scale\": [\n                                    0.9999973773956299,\n                                    0.9997223615646362,\n                                    0.9999942183494568\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"garden_0\"\n                                ],\n                                \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wrodjv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wrodjv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wrodjv\",\n                                \"scale\": [\n                                    1.0002094507217407,\n                                    1.0000132322311401,\n                                    1.0000284910202026\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"a5d44dc912fd9dec4efea4b32670e89b\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wtpbpe_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wtpbpe_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wtpbpe\",\n                                \"scale\": [\n                                    0.99996417760849,\n                                    1.0002048015594482,\n                                    1.000003457069397\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"953bfc144bb139bae0bee218551ad2cf\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_wveiea_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_wveiea_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"wveiea\",\n                                \"scale\": [\n                                    1.0000367164611816,\n                                    1.0000665187835693,\n                                    1.0000109672546387\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"2e7492dfb1ea3fd4e5ba84a16ea2a89f\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_xbotyv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": 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 \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zpjckn_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zpjckn_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zpjckn\",\n                                \"scale\": [\n                                    0.9999418258666992,\n                                    1.00014328956604,\n                                    1.000003457069397\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\": \"4371cae2b53c990b6e6afaca9193a659\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"walls_zxlndv_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"walls_zxlndv_0\",\n                                \"category\": \"walls\",\n                                \"model\": \"zxlndv\",\n                                \"scale\": [\n                                    0.9999450445175171,\n                                    1.0000429153442383,\n                                    1.0000020265579224\n                                ],\n                                \"fixed_base\": true,\n                             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\"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": \"\",\n                                \"expected_file_hash\": \"9ce89f250b82bf9b455a039a62c4c304\",\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"wardrobe_ktworp_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"wardrobe_ktworp_0\",\n                                \"category\": \"wardrobe\",\n                                \"model\": \"ktworp\",\n                                \"scale\": [\n                                    1.000016450881958,\n                                    1.0000059604644775,\n                                    1.0000040531158447\n              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        1.0000044107437134\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"closet_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"washer_ynwamu_0\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"washer_ynwamu_0\",\n                                \"category\": \"washer\",\n                                \"model\": \"ynwamu\",\n                                \"scale\": [\n                                    1.0000474452972412,\n                                    0.9999510645866394,\n                                    1.0000536441802979\n                                ],\n                                \"fixed_base\": true,\n                                \"visual_only\": false,\n                                \"in_rooms\": [\n                                    \"utility_room_0\"\n                                ],\n                                \"bddl_object_scope\": null\n                            }\n                        },\n                        \"toy_box_224\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"toy_box_224\",\n                                \"category\": \"toy_box\",\n                                \"model\": \"aviadj\",\n                                \"scale\": [\n                                    1.6493421792984009,\n                                    1.5690655708312988,\n                                    1.546252727508545\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"6d21697f6f5f417339544df3264bca69\"\n                            }\n                        },\n                        \"tennis_ball_225\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"tennis_ball_225\",\n                                \"category\": \"tennis_ball\",\n                                \"model\": \"rgekxe\",\n                                \"scale\": [\n                                    1.0,\n                                    1.0,\n                                    1.0\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"4a0ba9882aabb59d0a8896c4f13e464f\"\n                            }\n                        },\n                        \"jigsaw_puzzle_226\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"jigsaw_puzzle_226\",\n                                \"category\": \"jigsaw_puzzle\",\n                                \"model\": \"antykn\",\n                                \"scale\": [\n                                    0.9760521650314331,\n                                    1.0284768342971802,\n                                    7.622868537902832\n                                ],\n                                \"prim_type\": 0,\n                                \"in_rooms\": [\n                                    \"childs_room_0\"\n                                ],\n                                \"expected_file_hash\": \"7a941637e420129704656099fe74a704\"\n                            }\n                        },\n                        \"jigsaw_puzzle_227\": {\n                            \"class_module\": \"omnigibson.objects.dataset_object\",\n                            \"class_name\": \"DatasetObject\",\n                            \"args\": {\n                                \"name\": \"jigsaw_puzzle_227\",\n                                \"category\": \"jigsaw_puzzle\",\n                                \"model\": \"antykn\",\n                                \"scale\": [\n             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                                \"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\": 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-4.3306494035277865e-07\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    4.470851119875441e-11,\n                                    -8.76089584779947e-22\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {\n                     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                                 }\n                                }\n                            },\n                            \"bottom_cabinet_no_top_gjrero_2\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        24.57786750793457,\n                                        -0.335743248462677,\n                                        0.4670558571815491\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        3.4924593772522883e-10,\n                                        1.0,\n                                        -4.3306494035277865e-07\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n   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                             \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        21.334209442138672,\n                                        12.980031967163086,\n                                        0.40365302562713623\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.0012448775814846158,\n                                        0.9999992251396179\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"bench_pfjnnj_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n   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                        \"pos\": [\n                                        -16.29715919494629,\n                                        39.02416229248047,\n                                        0.18011990189552307\n                                    ],\n                                    \"ori\": [\n                                        0.02018512412905693,\n                                        0.780676543712616,\n                                        0.5264541506767273,\n                                        -0.3361290693283081\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"burner_mjvqii_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.168538570404053,\n                              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\"non_kin\": {\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"ceilings_apkslx_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        19.65535545349121,\n                                        8.170421600341797,\n                                        2.716301441192627\n                                    ],\n                                    \"ori\": [\n                                        -0.003169272094964981,\n                                        -0.00014235811249818653,\n                                        0.999994158744812,\n                                 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                              \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_jjyrdh_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        13.536916732788086,\n                                        0.7440887689590454,\n                                        2.7151918411254883\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                    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     0.0012719203950837255\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_tcwyvb_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        1.3020293712615967,\n                                        -0.0882028341293335,\n                                        2.7156898975372314\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_tjwkje_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        7.001570701599121,\n                                        3.3189001083374023,\n                                        2.712042808532715\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        -0.7080055475234985,\n                                        0.7062068581581116\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"ceilings_wbbkuv_0\": {\n                                \"is_asleep\": false,\n                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],\n                                    \"ori\": [\n                                        -4.407015197216424e-08,\n                                        -2.820742679432442e-07,\n                                        0.9999992251396179,\n                                        0.0012716815108433366\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"countertop_kelker_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.181302547454834,\n                                        -0.4952336549758911,\n                                        0.8694858551025391\n                                    ],\n                                    \"ori\": [\n                                        8.736821399679684e-08,\n                                        3.0509770265751968e-09,\n                                        0.03489910811185837,\n                                        0.9993908405303955\n                                    ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"countertop_kelzer_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        6.0294647216796875,\n                                        -1.9837117195129395,\n                                        0.8694865107536316\n                                    ],\n                                    \"ori\": [\n                                        7.628955106531166e-11,\n                                        6.869142754606372e-11,\n                          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                  ]\n                                },\n                                \"non_kin\": {}\n                            },\n                            \"door_crtrpa_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        -6.909823417663574,\n                                        4.79899263381958,\n                                        1.1613048315048218\n                                    ],\n                                    \"ori\": [\n                                        -4.82769382870174e-06,\n                                        -3.860062491867211e-08,\n                                        0.9999681115150452,\n                                        -0.007989278063178062\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n 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       },\n                                \"joint_pos\": [\n                                    2.3267541848781548e-07\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_fnvpyu_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.023595809936523,\n                                        17.786287307739258,\n                                        1.3550719022750854\n                                    ],\n                                    \"ori\": [\n                                        0.0007749272626824677,\n                                        -5.059090653958265e-06,\n                                  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  \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    -3.692925510866453e-18,\n                                    -2.908791584185838e-18\n                                ],\n                                \"joint_vel\": [\n                                    0.0,\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_kwbnhy_0\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        24.388137817382812,\n                                        16.86415672302246,\n                                        1.326021671295166\n                                    ],\n                                    \"ori\": [\n                                        1.0477412271114872e-09,\n                                        0.0,\n                                        -4.656618424192516e-10,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    6.619318808354091e-13\n                                ],\n                                \"joint_vel\": [\n                                    1.0435498849732184e-17\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"door_kwbnhy_1\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        18.467453002929688,\n                                        -2.483981132507324,\n                                        1.3314296007156372\n                                    ],\n                                    \"ori\": [\n                                        2.2685053409077227e-06,\n                                        5.4878892541410096e-08,\n                                        -0.6999110579490662,\n                                        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\"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    1.2085699149561944e-18\n                                ],\n                                \"joint_vel\": [\n                                    3.2026965773639694e-34\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"sliding_door_tprpvb_12\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n       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                               ]\n                                },\n                                \"joint_pos\": [\n                                    2.4722541776284876e-26\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"sliding_door_tprpvb_2\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        23.53179168701172,\n                                        5.380324840545654,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        -2.7284845389996537e-12,\n                                  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\"non_kin\": {}\n                            },\n                            \"sliding_door_tprpvb_3\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        21.096506118774414,\n                                        16.458438873291016,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        9.094947017729282e-13,\n                                        2.1615609540319046e-15,\n                                        0.7071069478988647,\n                                        0.7071065902709961\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                       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25.27022933959961,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    9.126765339332367e-28\n         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],\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                            \"sliding_door_tprpvb_6\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n       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5.137818102007256e-15,\n                                        0.70710688829422,\n                                        0.7071066498756409\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ],\n                                    \"ang_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n                                    ]\n                                },\n                                \"joint_pos\": [\n                                    2.4339800948064823e-26\n                                ],\n                                \"joint_vel\": [\n                                    0.0\n                                ],\n                                \"non_kin\": {}\n                            },\n                            \"sliding_door_tprpvb_8\": {\n                                \"is_asleep\": true,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        23.602252960205078,\n                                        15.204446792602539,\n                                        2.310049057006836\n                                    ],\n                                    \"ori\": [\n                                        -5.4569677769567004e-12,\n                                        7.191360679691117e-13,\n                                        -0.70710688829422,\n                                        0.7071066498756409\n                                    ],\n                                    \"lin_vel\": [\n                                        0.0,\n                                        0.0,\n                                        0.0\n              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0.9999992251396179\n                                    ]\n                                },\n                                \"non_kin\": {\n                                    \"ModifiedParticles\": {\n                                        \"n_systems\": 0\n                                    },\n                                    \"Saturated\": {\n                                        \"n_systems\": 0,\n                                        \"default_visual_particle_limit\": 200,\n                                        \"default_physical_particle_limit\": 400\n                                    },\n                                    \"ParticleRemover\": {\n                                        \"current_step\": 0\n                                    }\n                                }\n                            },\n                            \"sofa_wnzdke_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": 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},\n                                    \"ToggledOn\": {\n                                        \"value\": false,\n                                        \"hand_in_marker_steps\": 0\n                                    }\n                                }\n                            },\n                            \"top_cabinet_lkxmne_0\": {\n                                \"is_asleep\": false,\n                                \"root_link\": {\n                                    \"pos\": [\n                                        4.0050048828125,\n                                        -1.615430235862732,\n                                        1.7916107177734375\n                                    ],\n                                    \"ori\": [\n                                        0.0,\n                                        0.0,\n                                        0.0,\n                                        1.0\n                                    ],\n         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               \"name\": \"ceilings_wbbkuv_0\",\n                    \"category\": \"ceilings\",\n                    \"model\": \"wbbkuv\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9999978542327881,\n                        0.9999997019767761\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"b41db40e9c105cb862183335b2429d28\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_crtrpa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_crtrpa_0\",\n                    \"category\": \"door\",\n                    \"model\": \"crtrpa\",\n                    \"scale\": [\n                        1.0000602006912231,\n                        1.0000410079956055,\n                        0.9999841451644897\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"3cbce294ba718e55e919669c15b69287\"\n                }\n            },\n            \"door_eduavq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_eduavq_0\",\n                    \"category\": \"door\",\n                    \"model\": \"eduavq\",\n                    \"scale\": [\n                        0.9997847676277161,\n                        1.0000203847885132,\n                        1.000014305114746\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"82cfec94808466309bf7678baae9e5b8\"\n                }\n            },\n            \"door_fnvpyu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_fnvpyu_0\",\n                    \"category\": \"door\",\n                    \"model\": \"fnvpyu\",\n                    \"scale\": [\n                        1.0002930164337158,\n                        0.999984085559845,\n                        1.000014066696167\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"4500c9a04b3a0a6f17978e01db468a8c\"\n                }\n            },\n            \"door_iuuykr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_iuuykr_0\",\n                    \"category\": \"door\",\n                    \"model\": \"iuuykr\",\n                    \"scale\": [\n                        1.000057339668274,\n                        1.0000216960906982,\n                        1.0000015497207642\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"340c83a6b2eb5bb07f7aec84acb90754\"\n                }\n            },\n            \"door_kwbnhy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_0\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.0001516342163086,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_kwbnhy_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_1\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.007671594619751,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"95ad7cba8b9cd960c4346528539433f0\"\n                }\n            },\n            \"door_kwbnhy_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_2\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        0.9946825504302979,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"door_kwbnhy_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"door_kwbnhy_3\",\n                    \"category\": \"door\",\n                    \"model\": \"kwbnhy\",\n                    \"scale\": [\n                        1.0890235900878906,\n                        0.9999372363090515,\n                        0.9999863505363464\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_1\",\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"3a25a52b67f2e8a6db7be049d7645738\",\n                    \"bddl_object_scope\": 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     \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_2\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"fd06e993efa2fa8550859e28198566a5\"\n                }\n            },\n            \"downlight_fisfbn_20\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_20\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"fd06e993efa2fa8550859e28198566a5\"\n                }\n            },\n            \"downlight_fisfbn_21\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_21\",\n                    \"category\": \"downlight\",\n                    \"model\": 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       1.0000474452972412,\n                        0.999656081199646\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"entryway_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"fd06e993efa2fa8550859e28198566a5\"\n                }\n            },\n            \"downlight_fisfbn_24\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"downlight_fisfbn_24\",\n                    \"category\": \"downlight\",\n                    \"model\": \"fisfbn\",\n                    \"scale\": [\n                        1.0000314712524414,\n                        1.0000474452972412,\n                        0.999656081199646\n                    ],\n              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\"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"391cc587d8afb7a6bedead61e296fd34\"\n                }\n            },\n            \"floors_sirgua_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"floors_sirgua_0\",\n                    \"category\": \"floors\",\n                    \"model\": \"sirgua\",\n                    \"scale\": [\n                        0.9999985098838806,\n                        1.0000005960464478,\n                        1.00011146068573\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_1\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a73ffb3353b160fa36f90c7dca881fb2\"\n      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\"scale\": [\n                        1.0067205429077148,\n                        0.9999809861183167,\n                        0.9999308586120605\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"8ee1d7421837a9ebb48ad22e4b11a59a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"painting_wwnloz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"painting_wwnloz_0\",\n                    \"category\": \"painting\",\n                    \"model\": \"wwnloz\",\n                    \"scale\": [\n                        1.0006263256072998,\n                        1.0002787113189697,\n      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\"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_1\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        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1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_6\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_7\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_8\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_8\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"shelf_amyper_9\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"shelf_amyper_9\",\n                    \"category\": \"shelf\",\n                    \"model\": \"amyper\",\n                    \"scale\": [\n                        1.0000708103179932,\n                        1.0000263452529907,\n                        1.0\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"a50ddf73bdd67f4581237e1595db9390\"\n                }\n            },\n            \"showerhead_vuswbv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"showerhead_vuswbv_0\",\n                    \"category\": \"showerhead\",\n                    \"model\": \"vuswbv\",\n                    \"scale\": [\n                        1.0000189542770386,\n                        1.000184416770935,\n                        0.9999966621398926\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"sauna_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"7a48d3750bccaddbfd894f9780986748\"\n                }\n            },\n            \"sliding_door_lrvyvc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_lrvyvc_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"lrvyvc\",\n                    \"scale\": [\n                        0.9999122023582458,\n                        1.000001072883606,\n                        1.0000181198120117\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"living_room_0\",\n                        \"garden_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"8572d9963c36c53316a7be73c3ba9a13\"\n                }\n            },\n            \"sliding_door_tprpvb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_0\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0000165700912476,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bedroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_1\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0632356405258179,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_1\"\n                    ],\n                    \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_10\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_10\",\n                    \"category\": \"sliding_door\",\n                    \"model\": 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        1.0007404088974,\n                        1.088773250579834,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_12\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_12\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.2041987180709839,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_2\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.828336775302887,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_2\",\n                        \"closet_3\"\n                    ],\n                    \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_3\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.9631685018539429,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"childs_room_0\",\n                        \"closet_2\"\n                    ],\n                    \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_4\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        0.748390257358551,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"bedroom_0\",\n                        \"closet_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_5\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.0907971858978271,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"bathroom_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    \"expected_file_hash\": \"40ed8eaabcb9c3f7dc12d5661f93535c\"\n                }\n            },\n            \"sliding_door_tprpvb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_6\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.099666953086853,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"childs_room_2\"\n                    ],\n                    \"expected_file_hash\": \"81f71a2fa13415641a42d07c6c5d393c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"sliding_door_tprpvb_7\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"sliding_door_tprpvb_7\",\n                    \"category\": \"sliding_door\",\n                    \"model\": \"tprpvb\",\n                    \"scale\": [\n                        1.0007404088974,\n                        1.115620493888855,\n                        1.0000112056732178\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"corridor_0\",\n                        \"utility_room_0\"\n                    ],\n                    \"bddl_object_scope\": null,\n                    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 }\n            },\n            \"walls_fvckzc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_fvckzc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"fvckzc\",\n                    \"scale\": [\n                        0.9998689293861389,\n                        0.9999626278877258,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fb8fa3b7eacf958c87b71f5dcebf4910\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_fxeanq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_gkmbnp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"gkmbnp\",\n                    \"scale\": [\n                        0.9999883770942688,\n                        1.0000717639923096,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"40235c73d6da3b9a1751c047ac603e82\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gkmwvy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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 \"bddl_object_scope\": null\n                }\n            },\n            \"walls_grbaxo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_grbaxo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"grbaxo\",\n                    \"scale\": [\n                        0.9998166561126709,\n                        0.9999743700027466,\n                        0.9999679923057556\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9853dc5d2f73ac221700533d8ae56c8c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_gupuvk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n        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            \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hfxeuh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hfxeuh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hfxeuh\",\n                    \"scale\": [\n                        0.9997124075889587,\n                        0.9999848008155823,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e6b973ef596afe2bc14120c2dc56ad8e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hgaazx_0\": {\n                \"class_module\": 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          \"category\": \"walls\",\n                    \"model\": \"hhbfdf\",\n                    \"scale\": [\n                        1.000022292137146,\n                        0.9999868273735046,\n                        0.9999457001686096\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"05c00ad92ff054216c905c4edda17751\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hoyudj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hoyudj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hoyudj\",\n                    \"scale\": [\n                        1.000164270401001,\n                        0.9999976754188538,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"03a7547cc8d2c017663f616b5fb95445\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hqkpgu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hqkpgu_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hqkpgu\",\n                    \"scale\": [\n                        1.000036597251892,\n                        0.9997795820236206,\n                        1.000002384185791\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e89793abd705892d8f3077df93a93b25\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_htpoqj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_htpoqj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"htpoqj\",\n                    \"scale\": [\n                        1.0000275373458862,\n                        1.000287413597107,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"253929fa25c12fcac5f4701c2f685273\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hwzmyf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hwzmyf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hwzmyf\",\n                    \"scale\": [\n                        1.0001691579818726,\n                        1.0000174045562744,\n                        1.0000296831130981\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b79c5236e3fafb083aeb52b29c4bc612\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hzepkq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hzepkq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hzepkq\",\n                    \"scale\": [\n                        0.9999510049819946,\n                        1.0000250339508057,\n                        1.0000377893447876\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3b72bd2326fe4af51c28f8f0bcd98697\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_hzhlyw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_hzhlyw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"hzhlyw\",\n                    \"scale\": [\n                        1.0000052452087402,\n                        0.9999136924743652,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2b5b21614eabb4db4fb1345372300567\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ipoatq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ipoatq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ipoatq\",\n                    \"scale\": [\n                        0.9999895095825195,\n                        0.9999748468399048,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"da0ecf664aacb29afef39a5278debc50\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_isnclr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_isnclr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"isnclr\",\n                    \"scale\": [\n                        0.9999971985816956,\n                        0.9999990463256836,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": 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\"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_izcwsg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"izcwsg\",\n                    \"scale\": [\n                        0.9998259544372559,\n                        1.0001044273376465,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b96b74e815c8e406c52c8d399db74857\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jbwydo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jbwydo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jbwydo\",\n                    \"scale\": [\n                        0.9999164342880249,\n                        1.0001364946365356,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"375c74ee5fa099c921543298402b7e30\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jshqhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jshqhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jshqhr\",\n                    \"scale\": [\n                        1.0000842809677124,\n                        1.0000399351119995,\n                        0.9999491572380066\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9d33ad007192d2f629bccd493ebd0318\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_jxctiw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_jxctiw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"jxctiw\",\n                    \"scale\": [\n                        1.0003010034561157,\n                        0.9999635815620422,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"3cff0e6153986c4c3c283f332ff02588\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_khkkca_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_khkkca_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"khkkca\",\n                    \"scale\": [\n                        0.9999955892562866,\n                        0.9997677803039551,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"932a8313952d8ab3128d1182160b16d2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_kkltnz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_kkltnz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"kkltnz\",\n                    \"scale\": [\n                        0.9999747276306152,\n                        1.0001676082611084,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"bb7b72fb7914cded7f09e9c82de750ae\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_knhryu_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n       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        \"model\": \"ktvxpa\",\n                    \"scale\": [\n                        1.0000466108322144,\n                        1.000028133392334,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"428d3fb56a28cd7ac2982440435695df\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lbxvwa_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lbxvwa_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lbxvwa\",\n                    \"scale\": [\n                        1.0,\n                        1.0000089406967163,\n                        1.0000019073486328\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2dca4180cae088f5a7170d442f375f57\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lmjkkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lmjkkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lmjkkp\",\n                    \"scale\": [\n                        0.9999988079071045,\n                        0.9998951554298401,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n          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\"walls_lveewk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lveewk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lveewk\",\n                    \"scale\": [\n                        0.9999539852142334,\n                        0.9998413920402527,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"96ad80da77cc953de2315beeadfa300e\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lxqjnd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lxqjnd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lxqjnd\",\n                    \"scale\": [\n                        1.0001026391983032,\n                        0.9999812841415405,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4ac35d97ae78e9f4393a510c5630a8bd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_lzkdkf_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_lzkdkf_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"lzkdkf\",\n                    \"scale\": [\n           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              \"bddl_object_scope\": null\n                }\n            },\n            \"walls_mxhvpj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_mxhvpj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"mxhvpj\",\n                    \"scale\": [\n                        0.9999787211418152,\n                        1.0001676082611084,\n                        1.0000613927841187\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b9107579d88176b18b8d9111589191fa\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_nfmhed_0\": {\n                \"class_module\": 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 }\n            },\n            \"walls_olxjsy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olxjsy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olxjsy\",\n                    \"scale\": [\n                        1.0000041723251343,\n                        0.9997128248214722,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6b924076d43c623bb22b12bb840dde70\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_olywna_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_olywna_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"olywna\",\n                    \"scale\": [\n                        0.9999077916145325,\n                        1.0000104904174805,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c60a8640d3cad878cc06809c405532d2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ondmvj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ondmvj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ondmvj\",\n                    \"scale\": [\n                        1.0001270771026611,\n                        1.0000394582748413,\n                        0.9999598860740662\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"0c886b2c6a523c77e87adf4e6c299629\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_onwdhr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_onwdhr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"onwdhr\",\n                    \"scale\": [\n                        0.999975860118866,\n                        0.9998258948326111,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cb81db9a6e5a153127bf61e3e4c9a69a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ooixcz_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ooixcz_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ooixcz\",\n                    \"scale\": [\n                        1.0000063180923462,\n                        1.0000216960906982,\n                        0.9999969005584717\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ee44833be9530738b4f29cc9fe048186\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_oyhdlq_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_oyhdlq_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"oyhdlq\",\n                    \"scale\": [\n                        0.9998031258583069,\n                        1.0000176429748535,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"b56c5977d6882a254270e7839240ced4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_paognv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_paognv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"paognv\",\n                    \"scale\": [\n                        1.000030517578125,\n                        1.0002267360687256,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"000b8403bbda812283240c6f5d805e9a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pdahqy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pdahqy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pdahqy\",\n                    \"scale\": [\n                        0.9997052550315857,\n                        1.0000066757202148,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"75804602b21d60a0b968d8eaf7e5a349\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pofjys_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pofjys_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pofjys\",\n                    \"scale\": [\n                        1.0000216960906982,\n                        1.000051498413086,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"267ad30ae3cb9056d130ecbdd2674296\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pozods_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pozods_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pozods\",\n                    \"scale\": [\n                        1.0000250339508057,\n                        1.0000290870666504,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"93eb6d76f12395a7be7c91cb624af262\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_pwjyds_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_pwjyds_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"pwjyds\",\n                    \"scale\": [\n                        1.000086784362793,\n                        0.9999912977218628,\n                        0.9999852776527405\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"317b90726910038b954257c49a5ec9de\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qlnqyd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qlnqyd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qlnqyd\",\n                    \"scale\": [\n                        1.0002201795578003,\n                        1.0000241994857788,\n                        1.0000104904174805\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"73cfe60e0db97ed27c169e9916105862\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qpkfgi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qpkfgi_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qpkfgi\",\n                    \"scale\": [\n                        1.0001020431518555,\n                        1.0000150203704834,\n                        0.9999968409538269\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6194fc6f671490e8331b62a743ff3963\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qpxhxd_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qpxhxd_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qpxhxd\",\n                    \"scale\": [\n                        1.0000958442687988,\n                        0.9999675750732422,\n                        0.9999513030052185\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2efc4a720bbda24b6d22f539bd31a67c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qsvtbs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qsvtbs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qsvtbs\",\n                    \"scale\": [\n                        1.000019907951355,\n                        1.0001133680343628,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"db7a9975eef5fd60b4842320592981ba\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_qzwuwo_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_qzwuwo_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"qzwuwo\",\n                    \"scale\": [\n                        1.0000032186508179,\n                        0.9999549388885498,\n                        1.000033974647522\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"ad2dcdccf3ddf5dc7bd73cd8fd4f5fa6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rdcvhx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rdcvhx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rdcvhx\",\n                    \"scale\": [\n                        0.9998269081115723,\n                        0.999972403049469,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9c4af29d004a8736b4270d33442831b6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rfpiin_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rfpiin_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rfpiin\",\n                    \"scale\": [\n                        0.9998872876167297,\n                        0.9998480081558228,\n                        1.0000982284545898\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1a9c2c099aadc4104e7926eb4b84d92d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_rogorx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_rogorx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"rogorx\",\n                    \"scale\": [\n                        1.0000121593475342,\n                        0.9997554421424866,\n                        1.0000357627868652\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"12134f9ffce3bfab2d4aba228fb6b295\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_sgqckc_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_sgqckc_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"sgqckc\",\n                    \"scale\": [\n                        1.00001859664917,\n                        1.0001447200775146,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"25dd307cc6e2555feaa10f4bb3d35f89\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_skoxkp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_skoxkp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"skoxkp\",\n                    \"scale\": [\n                        0.9999924898147583,\n                        1.0000261068344116,\n                        0.9999475479125977\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fa49811ed63fa19e88e5cbdb2a0d0f2f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_snssjy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_snssjy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"snssjy\",\n                    \"scale\": [\n                        0.9999773502349854,\n                        1.0001850128173828,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8cde28a0f71f18586ddc8e285fb00b97\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_somuet_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_somuet_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"somuet\",\n                    \"scale\": [\n                        1.000002384185791,\n                        1.0000072717666626,\n                        1.000004768371582\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garage_0\"\n                    ],\n                    \"expected_file_hash\": \"894adf15ea1dedb5e20e7ad49601edbb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_soubdp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_soubdp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"soubdp\",\n                    \"scale\": [\n                        0.9998795390129089,\n                        1.000030517578125,\n                        1.0000603199005127\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"36e3a931a25f8665fc4ac148f0cba547\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tcizfi_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": 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0.999958336353302,\n                        1.000003457069397,\n                        1.0000277757644653\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9e28d7e12a49114e44bdc6cff67288ca\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_thipzw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_thipzw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"thipzw\",\n                    \"scale\": [\n                        1.000144362449646,\n                        0.9999874234199524,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9284f86602919fd0a1e34e0b6ec71697\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tlcifm_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tlcifm_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tlcifm\",\n                    \"scale\": [\n                        0.9999516606330872,\n                        0.9999920129776001,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"c5c2c0f4862e8cbe763f09229e6d2d30\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tvjrao_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tvjrao_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tvjrao\",\n                    \"scale\": [\n                        1.0000044107437134,\n                        0.9997362494468689,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d6cd2b88a17c1249f31ae46864ddd5e3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_tyjlww_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_tyjlww_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"tyjlww\",\n                    \"scale\": [\n                        0.999956488609314,\n                        1.0001850128173828,\n                        0.9999752640724182\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"be1d0b942904b32df1eb8d0fe280f17c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubgakb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubgakb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubgakb\",\n                    \"scale\": [\n                        0.9999848008155823,\n                        1.0,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"02f9db48d83bf5ad1e4064889a378b93\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ubscrh_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ubscrh_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ubscrh\",\n                    \"scale\": [\n                        1.0000135898590088,\n                        0.9998775124549866,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"8dc0acfe82298c3adfc9207eb0a6d284\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udgvuj_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udgvuj_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udgvuj\",\n                    \"scale\": [\n                        0.9998785257339478,\n                        0.9998557567596436,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"e086eef73dcf3f92be27d41c85757840\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_udqkcs_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_udqkcs_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"udqkcs\",\n                    \"scale\": [\n                        0.9999690055847168,\n                        0.9999529719352722,\n                        1.0000107288360596\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"212a41f590ee0e31aef0da9ac8da7396\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uplnmr_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uplnmr_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uplnmr\",\n                    \"scale\": [\n                        1.0001013278961182,\n                        0.9999964237213135,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"afb0339b67dc52630af77ab1d15ce3dd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_urngpl_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n     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             \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxcfbp_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_uxcfbp_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"uxcfbp\",\n                    \"scale\": [\n                        1.0000423192977905,\n                        0.9998830556869507,\n                        1.0000033378601074\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"6d73f688c8fb0871c87145b23c420d6a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_uxgkxd_0\": {\n                \"class_module\": 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         \"category\": \"walls\",\n                    \"model\": \"uzxqqb\",\n                    \"scale\": [\n                        0.999995768070221,\n                        1.0001778602600098,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"d595c94aa50f86173ae1cb3a533923f6\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vcftmx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vcftmx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vcftmx\",\n                    \"scale\": [\n                        1.0000114440917969,\n                        1.0001753568649292,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4cb855788369e3ec21be155076fccdd4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vcgulk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vcgulk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vcgulk\",\n                    \"scale\": [\n                        1.000012755393982,\n                        1.0000059604644775,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"032c2477ea47f237a6ff0cb1db36bbf2\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vdywfg_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vdywfg_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vdywfg\",\n                    \"scale\": [\n                        0.999976634979248,\n                        1.0002204179763794,\n                        1.0000320672988892\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"028b0a655109e7bdd0776720bd6cc2c0\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vfibix_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vfibix_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vfibix\",\n                    \"scale\": [\n                        1.0000523328781128,\n                        1.0000444650650024,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"1659d93f5b9765d68004993f6a8fe9cd\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vmsoas_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vmsoas_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vmsoas\",\n                    \"scale\": [\n                        1.0000299215316772,\n                        1.0000975131988525,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"f838b7bb28d1e90f21172182bb78d510\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_vpuhwn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_vpuhwn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"vpuhwn\",\n                    \"scale\": [\n                        0.99983149766922,\n                        1.0000014305114746,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2bc34e11e37182529f6bbde421562504\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wbjwyy_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wbjwyy_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wbjwyy\",\n                    \"scale\": [\n                        1.0000293254852295,\n                        0.9999871253967285,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"870bcda543bc0b170c3a955c57627101\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_1\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_1\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_2\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_2\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_3\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_3\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_4\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_4\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_5\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_5\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wjlqlb_6\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wjlqlb_6\",\n                    \"category\": \"walls\",\n                    \"model\": \"wjlqlb\",\n                    \"scale\": [\n                        0.9999973773956299,\n                        0.9997223615646362,\n                        0.9999942183494568\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": [\n                        \"garden_0\"\n                    ],\n                    \"expected_file_hash\": \"734cb3909799563eb8619541d0bc315c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wrodjv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wrodjv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wrodjv\",\n                    \"scale\": [\n                        1.0002094507217407,\n                        1.0000132322311401,\n                        1.0000284910202026\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"a5d44dc912fd9dec4efea4b32670e89b\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wtpbpe_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wtpbpe_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wtpbpe\",\n                    \"scale\": [\n                        0.99996417760849,\n                        1.0002048015594482,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"953bfc144bb139bae0bee218551ad2cf\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_wveiea_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_wveiea_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"wveiea\",\n                    \"scale\": [\n                        1.0000367164611816,\n                        1.0000665187835693,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2e7492dfb1ea3fd4e5ba84a16ea2a89f\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xbotyv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xbotyv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xbotyv\",\n                    \"scale\": [\n                        0.999990701675415,\n                        0.9999972581863403,\n                        1.0000109672546387\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"2359cb84bc193554c1e0987bfbaa82c4\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xjxddw_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xjxddw_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xjxddw\",\n                    \"scale\": [\n                        1.000271201133728,\n                        1.0000120401382446,\n                        1.0000308752059937\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"625df9c7ed33865dfa18ede7f2194e59\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_xnutie_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_xnutie_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"xnutie\",\n                    \"scale\": [\n                        0.9999076724052429,\n                        0.9999979138374329,\n                        0.9999707937240601\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"67964de02eaf6b588815f712a2b6070d\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_ybcyqk_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_ybcyqk_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"ybcyqk\",\n                    \"scale\": [\n                        1.0002689361572266,\n                        1.0000149011611938,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"fe2a199225b7cf86361a5c6a11dd9694\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zfhsih_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zfhsih_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zfhsih\",\n                    \"scale\": [\n                        1.0000901222229004,\n                        0.9999537467956543,\n                        1.0000230073928833\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"15c11cc89da6f8107bb9218ae018a68c\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zpjckn_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zpjckn_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zpjckn\",\n                    \"scale\": [\n                        0.9999418258666992,\n                        1.00014328956604,\n                        1.000003457069397\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"cdc1e54210c2ec9a93cfef5e472179bb\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zqexop_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zqexop_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zqexop\",\n                    \"scale\": [\n                        0.9999964833259583,\n                        0.999962329864502,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"eeca5e8ace4b847aab15c0bd5f32163a\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zufhrv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zufhrv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zufhrv\",\n                    \"scale\": [\n                        1.0000169277191162,\n                        1.0000722408294678,\n                        1.0000094175338745\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"4371cae2b53c990b6e6afaca9193a659\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxlndv_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxlndv_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxlndv\",\n                    \"scale\": [\n                        0.9999450445175171,\n                        1.0000429153442383,\n                        1.0000020265579224\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"28f6c9682675a3b1a171fbe1f1c6d1c3\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"walls_zxyurx_0\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"walls_zxyurx_0\",\n                    \"category\": \"walls\",\n                    \"model\": \"zxyurx\",\n                    \"scale\": [\n                        0.9999738335609436,\n                        1.0000016689300537,\n                        1.0000286102294922\n                    ],\n                    \"fixed_base\": true,\n                    \"visual_only\": false,\n                    \"in_rooms\": \"\",\n                    \"expected_file_hash\": \"9ce89f250b82bf9b455a039a62c4c304\",\n                    \"bddl_object_scope\": null\n                }\n            },\n            \"toy_box_224\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"toy_box_224\",\n                    \"category\": \"toy_box\",\n                    \"model\": \"aviadj\",\n                    \"scale\": [\n                        1.6493421792984009,\n                        1.5690655708312988,\n                        1.546252727508545\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"6d21697f6f5f417339544df3264bca69\"\n                }\n            },\n            \"tennis_ball_225\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"tennis_ball_225\",\n                    \"category\": \"tennis_ball\",\n                    \"model\": \"rgekxe\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"4a0ba9882aabb59d0a8896c4f13e464f\"\n                }\n            },\n            \"jigsaw_puzzle_226\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"jigsaw_puzzle_226\",\n                    \"category\": \"jigsaw_puzzle\",\n                    \"model\": \"antykn\",\n                    \"scale\": [\n                        0.9760521650314331,\n                        1.0284768342971802,\n                        7.622868537902832\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"7a941637e420129704656099fe74a704\"\n                }\n            },\n            \"jigsaw_puzzle_227\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"jigsaw_puzzle_227\",\n                    \"category\": \"jigsaw_puzzle\",\n                    \"model\": \"antykn\",\n                    \"scale\": [\n                        0.9760521650314331,\n                        1.0284768342971802,\n                        7.622868537902832\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"7a941637e420129704656099fe74a704\"\n                }\n            },\n            \"board_game_228\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"board_game_228\",\n                    \"category\": \"board_game\",\n                    \"model\": \"vbamua\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"31db544b35153f4e4707acfd3e5d0589\"\n                }\n            },\n            \"board_game_229\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"board_game_229\",\n                    \"category\": \"board_game\",\n                    \"model\": \"rgvkmy\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"df182828eee9b9e2ad1b1595a8fbbd43\"\n                }\n            },\n            \"board_game_230\": {\n                \"class_module\": \"omnigibson.objects.dataset_object\",\n                \"class_name\": \"DatasetObject\",\n                \"args\": {\n                    \"name\": \"board_game_230\",\n                    \"category\": \"board_game\",\n                    \"model\": \"ovttum\",\n                    \"scale\": [\n                        1.0,\n                        1.0,\n                        1.0\n                    ],\n                    \"prim_type\": 0,\n                    \"in_rooms\": [\n                        \"childs_room_0\"\n                    ],\n                    \"expected_file_hash\": \"d2076e32497af1a552281fa8ad2f451a\"\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": 18075,
+    "num_samples": 18075,
+    "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",
+        "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",
+        "board_game.n.01_1_real",
+        "board_game.n.01_1_pos",
+        "board_game.n.01_1_ori_cos",
+        "board_game.n.01_1_ori_sin",
+        "board_game.n.01_1_in_gripper_left",
+        "board_game.n.01_1_in_gripper_right",
+        "board_game.n.01_2_real",
+        "board_game.n.01_2_pos",
+        "board_game.n.01_2_ori_cos",
+        "board_game.n.01_2_ori_sin",
+        "board_game.n.01_2_in_gripper_left",
+        "board_game.n.01_2_in_gripper_right",
+        "board_game.n.01_3_real",
+        "board_game.n.01_3_pos",
+        "board_game.n.01_3_ori_cos",
+        "board_game.n.01_3_ori_sin",
+        "board_game.n.01_3_in_gripper_left",
+        "board_game.n.01_3_in_gripper_right",
+        "jigsaw_puzzle.n.01_1_real",
+        "jigsaw_puzzle.n.01_1_pos",
+        "jigsaw_puzzle.n.01_1_ori_cos",
+        "jigsaw_puzzle.n.01_1_ori_sin",
+        "jigsaw_puzzle.n.01_1_in_gripper_left",
+        "jigsaw_puzzle.n.01_1_in_gripper_right",
+        "jigsaw_puzzle.n.01_2_real",
+        "jigsaw_puzzle.n.01_2_pos",
+        "jigsaw_puzzle.n.01_2_ori_cos",
+        "jigsaw_puzzle.n.01_2_ori_sin",
+        "jigsaw_puzzle.n.01_2_in_gripper_left",
+        "jigsaw_puzzle.n.01_2_in_gripper_right",
+        "tennis_ball.n.01_1_real",
+        "tennis_ball.n.01_1_pos",
+        "tennis_ball.n.01_1_ori_cos",
+        "tennis_ball.n.01_1_ori_sin",
+        "tennis_ball.n.01_1_in_gripper_left",
+        "tennis_ball.n.01_1_in_gripper_right",
+        "bed.n.01_1_real",
+        "bed.n.01_1_pos",
+        "bed.n.01_1_ori_cos",
+        "bed.n.01_1_ori_sin",
+        "bed.n.01_1_in_gripper_left",
+        "bed.n.01_1_in_gripper_right",
+        "table.n.02_1_real",
+        "table.n.02_1_pos",
+        "table.n.02_1_ori_cos",
+        "table.n.02_1_ori_sin",
+        "table.n.02_1_in_gripper_left",
+        "table.n.02_1_in_gripper_right",
+        "toy_box.n.01_1_real",
+        "toy_box.n.01_1_pos",
+        "toy_box.n.01_1_ori_cos",
+        "toy_box.n.01_1_ori_sin",
+        "toy_box.n.01_1_in_gripper_left",
+        "toy_box.n.01_1_in_gripper_right"
+    ],
+    "ins_id_mapping": "{\"0\": \"background\", \"1\": \"unlabelled\", \"2\": \"/World/scene_0/tree_dyymaq_0/base_link/visuals\", \"3\": \"/World/scene_0/tree_rrhqpw_5/base_link/visuals\", \"4\": \"/World/scene_0/bush_pjhpwk_1/base_link/visuals\", \"5\": \"/World/scene_0/tree_rrhqpw_12/base_link/visuals\", \"6\": \"/World/scene_0/tree_flkzbo_6/base_link/visuals\", \"7\": \"/World/scene_0/bush_knspbi_0/base_link/visuals\", \"8\": \"/World/scene_0/bush_kyghri_1/base_link/visuals\", \"9\": \"/World/scene_0/bush_lfyqkj_0/base_link/visuals\", \"10\": \"/World/scene_0/tree_dyymaq_4/base_link/visuals\", \"11\": \"/World/scene_0/bush_knspbi_1/base_link/visuals\", \"12\": \"/World/scene_0/walls_xjxddw_0/base_link/visuals\", \"13\": \"/World/scene_0/board_game_230/base_link/visuals\", \"14\": \"/World/scene_0/board_game_229/base_link/visuals\", \"15\": \"/World/scene_0/board_game_228/base_link/visuals\", \"16\": \"/World/scene_0/jigsaw_puzzle_227/base_link/visuals\", \"17\": \"/World/scene_0/jigsaw_puzzle_226/base_link/visuals\", \"18\": \"/World/scene_0/tennis_ball_225/base_link/visuals\", \"19\": \"/World/scene_0/toy_box_224/base_link/visuals\", \"20\": \"/World/scene_0/walls_zxyurx_0/base_link/visuals\", \"21\": \"/World/scene_0/walls_zxlndv_0/base_link/visuals\", \"22\": \"/World/scene_0/walls_zufhrv_0/base_link/visuals\", \"23\": \"/World/scene_0/walls_zqexop_0/base_link/visuals\", \"24\": \"/World/scene_0/walls_zpjckn_0/base_link/visuals\", \"25\": \"/World/scene_0/walls_zfhsih_0/base_link/visuals\", \"26\": \"/World/scene_0/walls_ybcyqk_0/base_link/visuals\", \"27\": \"/World/scene_0/walls_xnutie_0/base_link/visuals\", \"28\": \"/World/scene_0/walls_xbotyv_0/base_link/visuals\", \"29\": \"/World/scene_0/walls_wveiea_0/base_link/visuals\", \"30\": \"/World/scene_0/walls_wtpbpe_0/base_link/visuals\", \"31\": \"/World/scene_0/walls_wrodjv_0/base_link/visuals\", \"32\": \"/World/scene_0/walls_wjlqlb_6/base_link/visuals\", \"33\": 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\ No newline at end of file