def save_task_relevant_object_and_robot_states(env):
    object_dump = {}
    for obj in env.task_relevant_objects:
        object_dump[obj.bddl_object_scope] = {'metadata': obj.metadata, 'asset_path': obj.model_path, 'pose': tuple(obj.get_position_orientation()), 'scale': tuple(obj.scale)}
    robot_dump = []
    for robot in env.simulator.robots:
        robot_dump.append(robot.dump_state())
    return {'objects': object_dump, 'robots': robot_dump}
def save_task_relevant_object_and_robot_states(env):
    object_dump = {}
    for obj in env.task_relevant_objects:
        object_dump[obj.bddl_object_scope] = {'metadata': obj.metadata, 'asset_path': obj.model_path, 'pose': tuple(obj.get_position_orientation()), 'scale': tuple(obj.scale)}
    robot_dump = []
    for robot in env.simulator.robots:
        robot_dump.append(robot.dump_state())
    return {'objects': object_dump, 'robots': robot_dump}