def save_task_relevant_state(env, root_directory, filename='behavior_dump'):
    json_path = os.path.join(root_directory, f'{filename}.json')
    with open(json_path, 'w') as f:
        json.dump(save_task_relevant_object_and_robot_states(env), f)
def save_task_relevant_state(env, root_directory, filename='behavior_dump'):
    json_path = os.path.join(root_directory, f'{filename}.json')
    with open(json_path, 'w') as f:
        json.dump(save_task_relevant_object_and_robot_states(env), f)