scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_18 bathroom_1↔toilet_11 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_26 bedroom_1↔chest_of_drawers_27 bedroom_1↔floor_bedroom_1 bedroom_1↔stand_40 bedroom_1↔table_38 closet_1↔floor_closet_1 entryway_1↔chest_of_drawers_15 entryway_1↔floor_entryway_1 entryway_1↔unknown_20 hallway_1↔cabinet_24 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_31 kitchen_1↔cabinet_33 kitchen_1↔cabinet_36 kitchen_1↔floor_kitchen_1 kitchen_2↔cabinet_14 kitchen_2↔cabinet_28 kitchen_2↔cabinet_29 kitchen_2↔cabinet_32 kitchen_2↔cabinet_34 kitchen_2↔cabinet_35 kitchen_2↔counter_25 kitchen_2↔floor_kitchen_2 kitchen_2↔fridge_30 kitchen_2↔microwave_37 kitchen_2↔stool_12 kitchen_2↔stool_13 living_room_1↔couch_23 living_room_1↔floor_living_room_1 living_room_1↔shelves_21 living_room_1↔stand_41 living_room_1↔table_19 living_room_1↔table_22 office_1↔cabinet_39 office_1↔chair_16 office_1↔floor_office_1 toilet_1↔floor_toilet_1 toilet_1↔toilet_10 chest_of_drawers_27↔toy_cactus_1 chest_of_drawers_27↔vase_1 chest_of_drawers_26↔hand_towel_1 unknown_20↔box_1 bed_17↔box_2 cabinet_39↔teapot_1 cabinet_39↔tray_1 cabinet_39↔book_1 chest_of_drawers_15↔cushion_1 couch_23↔clock_1 table_19↔toy_vehicle_1 table_19↔toy_fire_truck_1 table_19↔toy_airplane_1 couch_23↔box_3 shelves_21↔lamp_1 shelves_21↔vase_2 cabinet_36↔candle_1 cabinet_32↔plate_1 chair_16↔box_4 table_22↔kettle_1 table_22↔can_1 table_22↔teapot_2 table_19↔cup_1 table_19↔cup_2 table_22↔lamp_2 chest_of_drawers_26↔bowl_1 couch_23↔plate_2 stand_41↔hand_towel_2 shower_18↔bowl_2
scene_graph.id: agent
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scene_graph.affordances: place
scene_graph.id: floor_bathroom_1
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scene_graph.id: toilet_11
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scene_graph.id: bed_17
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scene_graph.room: bedroom_1
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scene_graph.id: table_38
scene_graph.room: bedroom_1
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scene_graph.id: floor_closet_1
scene_graph.room: closet_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_15
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scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
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scene_graph.id: cabinet_24
scene_graph.room: hallway_1
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scene_graph.id: floor_hallway_1
scene_graph.room: hallway_1
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scene_graph.id: cabinet_31
scene_graph.room: kitchen_1
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scene_graph.id: cabinet_33
scene_graph.room: kitchen_1
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scene_graph.id: cabinet_36
scene_graph.room: kitchen_1
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scene_graph.id: floor_kitchen_1
scene_graph.room: kitchen_1
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scene_graph.id: cabinet_14
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scene_graph.id: cabinet_28
scene_graph.room: kitchen_2
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scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_32
scene_graph.room: kitchen_2
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scene_graph.room: kitchen_2
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scene_graph.id: cabinet_35
scene_graph.room: kitchen_2
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scene_graph.id: counter_25
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: floor_kitchen_2
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scene_graph.id: fridge_30
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: microwave_37
scene_graph.room: kitchen_2
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scene_graph.id: stool_12
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scene_graph.id: stool_13
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: couch_23
scene_graph.room: living_room_1
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scene_graph.id: floor_living_room_1
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: shelves_21
scene_graph.room: living_room_1
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scene_graph.id: stand_41
scene_graph.room: living_room_1
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scene_graph.id: table_19
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_22
scene_graph.room: living_room_1
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scene_graph.id: cabinet_39
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: chair_16
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_office_1
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_toilet_1
scene_graph.room: toilet_1
scene_graph.affordances: place
scene_graph.id: toilet_10
scene_graph.room: toilet_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: toy_cactus_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: toy_cactus
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: hand_towel_1
scene_graph.parent: chest_of_drawers_26
scene_graph.room: bedroom_1
scene_graph.type: hand_towel
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: unknown_20
scene_graph.room: entryway_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: bed_17
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: cabinet_39
scene_graph.room: office_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: tray_1
scene_graph.parent: cabinet_39
scene_graph.room: office_1
scene_graph.type: tray
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: cabinet_39
scene_graph.room: office_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: couch_23
scene_graph.room: living_room_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: toy_vehicle
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scene_graph.id: toy_fire_truck_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: toy_fire_truck
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scene_graph.id: toy_airplane_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: toy_airplane
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scene_graph.id: box_3
scene_graph.parent: couch_23
scene_graph.room: living_room_1
scene_graph.type: box
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scene_graph.id: lamp_1
scene_graph.parent: shelves_21
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: shelves_21
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: cabinet_36
scene_graph.room: kitchen_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: cabinet_32
scene_graph.room: kitchen_2
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: chair_16
scene_graph.room: office_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: can
scene_graph.affordances: pickup release
scene_graph.id: teapot_2
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: lamp_2
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: chest_of_drawers_26
scene_graph.room: bedroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: plate_2
scene_graph.parent: couch_23
scene_graph.room: living_room_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: hand_towel_2
scene_graph.parent: stand_41
scene_graph.room: living_room_1
scene_graph.type: hand_towel
scene_graph.affordances: pickup release
scene_graph.id: bowl_2
scene_graph.parent: shower_18
scene_graph.room: bathroom_1
scene_graph.type: bowl
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: entryway_1
scene_graph.id: hallway_1
scene_graph.id: kitchen_1
scene_graph.id: kitchen_2
scene_graph.id: laundryroom_1
scene_graph.id: living_room_1
scene_graph.id: office_1
scene_graph.id: toilet_1
scene_graph.id: unknown_room
task: Make coffee. Move the kettle, can, and teapot from the dining table to the kitchen counter. Fill the kettle with water and turn it on. Place two cups on the living room table while the coffee brews. Finally, clean the dining table and turn on the lamp.
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