scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔couch_19 bathroom_1↔floor_bathroom_1 bathroom_1↔shelves_16 bathroom_1↔stand_20 bathroom_1↔table_12 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_7 bedroom_1↔bed_14 bedroom_1↔chest_of_drawers_25 bedroom_1↔floor_bedroom_1 bedroom_1↔table_13 dining_booth_1↔floor_dining_booth_1 dining_booth_1↔table_8 kitchen_1↔cabinet_22 kitchen_1↔cabinet_23 kitchen_1↔cabinet_24 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_28 kitchen_1↔unknown_11 kitchen_1↔unknown_21 laundryroom_1↔unknown_17 laundryroom_1↔washer_dryer_9 office_1↔chair_15 office_1↔floor_office_1 office_1↔shelves_18 office_1↔table_10 porch_1↔floor_porch_1 table_13↔bath_towel_1 table_13↔hand_towel_1 table_13↔soap_dispenser_1 table_13↔sponge_1 shelves_16↔cushion_1 bed_14↔canister_1 table_13↔doll_1 table_13↔toy_airplane_1 table_12↔cushion_2 table_10↔glass_1 table_13↔toy_bee_1 table_13↔toy_construction_set_1 table_13↔toy_fruits_1 table_13↔toy_fruits_2 shelves_16↔bowl_1 cabinet_27↔box_1 shelves_18↔glass_2 stand_20↔clock_1 cabinet_22↔kettle_1 cabinet_22↔electric_kettle_1 cabinet_22↔teapot_1 shelves_16↔dumbbell_1 shelves_18↔book_1 toilet_7↔box_2 stand_20↔cup_1 shelves_16↔glass_3 table_10↔toy_fire_truck_1 table_10↔toy_airplane_2 shelves_16↔candle_1 stand_20↔box_3 table_12↔egg_1
scene_graph.id: agent
scene_graph.location: bathroom_1
scene_graph.affordances: place
scene_graph.id: couch_19
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: floor_bathroom_1
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: shelves_16
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: stand_20
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: table_12
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: floor_bathroom_2
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: toilet_7
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: bed_14
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_25
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: floor_bedroom_1
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: table_13
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: floor_dining_booth_1
scene_graph.room: dining_booth_1
scene_graph.affordances: place
scene_graph.id: table_8
scene_graph.room: dining_booth_1
scene_graph.affordances: place
scene_graph.id: cabinet_22
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_23
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_24
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_26
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_27
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: floor_kitchen_1
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: fridge_28
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_11
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_21
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_17
scene_graph.room: laundryroom_1
scene_graph.affordances: place
scene_graph.id: washer_dryer_9
scene_graph.room: laundryroom_1
scene_graph.affordances: place
scene_graph.id: chair_15
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: shelves_18
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: table_10
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_porch_1
scene_graph.room: porch_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: bath_towel_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: bath_towel
scene_graph.affordances: pickup release
scene_graph.id: hand_towel_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: hand_towel
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: sponge_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: sponge
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: canister_1
scene_graph.parent: bed_14
scene_graph.room: bedroom_1
scene_graph.type: canister
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: toy_airplane
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: toy_bee_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: toy_bee
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_fruits_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: toy_fruits
scene_graph.affordances: pickup release
scene_graph.id: toy_fruits_2
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: toy_fruits
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: cabinet_27
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: electric_kettle_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: electric_kettle
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: dumbbell_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: dumbbell
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: toilet_7
scene_graph.room: bathroom_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: toy_fire_truck_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: toy_fire_truck
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_2
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: toy_airplane
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: egg_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: egg
scene_graph.id: bathroom_1
scene_graph.id: bathroom_2
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: dining_booth_1
scene_graph.id: kitchen_1
scene_graph.id: laundryroom_1
scene_graph.id: office_1
scene_graph.id: porch_1
scene_graph.id: unknown_room
task: Move the bath towel and hand towel from the bedroom to the bathroom. Then, move the soap dispenser and sponge from the bedroom to the bathroom and clean the bathroom table.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔couch_19 bathroom_1↔floor_bathroom_1 bathroom_1↔shelves_16 bathroom_1↔stand_20 bathroom_1↔table_12 bedroom_1↔bed_14 bedroom_1↔chest_of_drawers_25 bedroom_1↔floor_bedroom_1 bedroom_1↔table_13 bathroom_1↔agent shelves_16↔cushion_1 shelves_16↔bowl_1 shelves_16↔dumbbell_1 shelves_16↔glass_3 shelves_16↔candle_1 stand_20↔clock_1 stand_20↔cup_1 stand_20↔box_3 table_12↔cushion_2 table_12↔egg_1 bed_14↔canister_1 table_13↔bath_towel_1 table_13↔hand_towel_1 table_13↔soap_dispenser_1 table_13↔sponge_1 table_13↔doll_1 table_13↔toy_airplane_1 table_13↔toy_bee_1 table_13↔toy_construction_set_1 table_13↔toy_fruits_1 table_13↔toy_fruits_2
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: couch_19
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: floor_bathroom_1
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: shelves_16
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: stand_20
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: table_12
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: bed_14
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_25
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: floor_bedroom_1
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: table_13
searched_sg.room: bedroom_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: shelves_16
searched_sg.room: bathroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: bowl_1
searched_sg.parent: shelves_16
searched_sg.room: bathroom_1
searched_sg.type: bowl
searched_sg.affordances: pickup release
searched_sg.id: dumbbell_1
searched_sg.parent: shelves_16
searched_sg.room: bathroom_1
searched_sg.type: dumbbell
searched_sg.affordances: pickup release
searched_sg.id: glass_3
searched_sg.parent: shelves_16
searched_sg.room: bathroom_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: candle_1
searched_sg.parent: shelves_16
searched_sg.room: bathroom_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: clock_1
searched_sg.parent: stand_20
searched_sg.room: bathroom_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: stand_20
searched_sg.room: bathroom_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: box_3
searched_sg.parent: stand_20
searched_sg.room: bathroom_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: table_12
searched_sg.room: bathroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: egg_1
searched_sg.parent: table_12
searched_sg.room: bathroom_1
searched_sg.type: egg
searched_sg.affordances: pickup release
searched_sg.id: canister_1
searched_sg.parent: bed_14
searched_sg.room: bedroom_1
searched_sg.type: canister
searched_sg.affordances: pickup release
searched_sg.id: bath_towel_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: bath_towel
searched_sg.affordances: pickup release
searched_sg.id: hand_towel_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: hand_towel
searched_sg.affordances: pickup release
searched_sg.id: soap_dispenser_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: soap_dispenser
searched_sg.affordances: pickup release
searched_sg.id: sponge_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: sponge
searched_sg.affordances: pickup release
searched_sg.id: doll_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: doll
searched_sg.affordances: pickup release
searched_sg.id: toy_airplane_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: toy_airplane
searched_sg.affordances: pickup release
searched_sg.id: toy_bee_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: toy_bee
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: toy_fruits_1
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: toy_fruits
searched_sg.affordances: pickup release
searched_sg.id: toy_fruits_2
searched_sg.parent: table_13
searched_sg.room: bedroom_1
searched_sg.type: toy_fruits
searched_sg.id: bathroom_1
searched_sg.id: bathroom_2
searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: dining_booth_1
searched_sg.id: kitchen_1
searched_sg.id: laundryroom_1
searched_sg.id: office_1
searched_sg.id: porch_1
searched_sg.id: unknown_room