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 cabinet_22↔bowl_1 cabinet_22↔spoon_1 stand_20↔book_1 shelves_16↔cup_1 washer_dryer_9↔cushion_1 table_12↔bottle_1 table_12↔cushion_2 shelves_18↔toy_fire_truck_1 shelves_18↔statue_1 unknown_17↔soap_dispenser_1 table_12↔cup_2 toilet_7↔cushion_3 table_10↔lamp_1 stand_20↔candle_1 table_13↔toy_construction_set_1 table_10↔laptop_1 unknown_17↔soap_dispenser_2 washer_dryer_9↔doll_1 table_10↔jug_1 shelves_18↔cup_3 shelves_18↔cup_4 shelves_18↔pen_1 shelves_18↔pen_2 shelves_18↔laptop_2 table_10↔lamp_2 shelves_16↔book_2 cabinet_26↔multiport_hub_1 shelves_16↔glass_1 washer_dryer_9↔bottle_2 chair_15↔box_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: bowl_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: washer_dryer_9
scene_graph.room: laundryroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: bottle
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: toy_fire_truck_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: toy_fire_truck
scene_graph.affordances: pickup release
scene_graph.id: statue_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: statue
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: unknown_17
scene_graph.room: laundryroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: toilet_7
scene_graph.room: bathroom_2
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: lamp_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: candle
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: laptop_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: laptop
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_2
scene_graph.parent: unknown_17
scene_graph.room: laundryroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: washer_dryer_9
scene_graph.room: laundryroom_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: pen_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: pen
scene_graph.affordances: pickup release
scene_graph.id: pen_2
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: pen
scene_graph.affordances: pickup release
scene_graph.id: laptop_2
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: laptop
scene_graph.affordances: pickup release
scene_graph.id: lamp_2
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: book_2
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: multiport_hub_1
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: multiport_hub
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: washer_dryer_9
scene_graph.room: laundryroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: chair_15
scene_graph.room: office_1
scene_graph.type: box
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: Setup for a meeting. Fill the jug on the office table with water and put it in the kitchen cabinet. Take two cups, two pens, and one laptop from the office shelves and set them on the office table. Also, turn on the lamp on the office table and clean the table.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 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 office_1↔chair_15 office_1↔floor_office_1 office_1↔shelves_18 office_1↔table_10 bathroom_1↔agent chair_15↔box_1 shelves_18↔toy_fire_truck_1 shelves_18↔statue_1 shelves_18↔cup_3 shelves_18↔cup_4 shelves_18↔pen_1 shelves_18↔pen_2 shelves_18↔laptop_2 table_10↔lamp_1 table_10↔laptop_1 table_10↔jug_1 table_10↔lamp_2 cabinet_22↔bowl_1 cabinet_22↔spoon_1 cabinet_26↔multiport_hub_1
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: chair_15
searched_sg.room: office_1
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searched_sg.id: floor_office_1
searched_sg.room: office_1
searched_sg.affordances: place
searched_sg.id: shelves_18
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searched_sg.id: table_10
searched_sg.room: office_1
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searched_sg.id: cabinet_22
searched_sg.room: kitchen_1
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searched_sg.id: cabinet_23
searched_sg.room: kitchen_1
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searched_sg.id: cabinet_24
searched_sg.room: kitchen_1
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searched_sg.id: cabinet_26
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_27
searched_sg.room: kitchen_1
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searched_sg.id: floor_kitchen_1
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: fridge_28
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: unknown_11
searched_sg.room: kitchen_1
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searched_sg.id: unknown_21
searched_sg.room: kitchen_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: chair_15
searched_sg.room: office_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: toy_fire_truck_1
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: toy_fire_truck
searched_sg.affordances: pickup release
searched_sg.id: statue_1
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: statue
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: cup
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searched_sg.id: cup_4
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: cup
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searched_sg.id: pen_1
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searched_sg.room: office_1
searched_sg.type: pen
searched_sg.affordances: pickup release
searched_sg.id: pen_2
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: pen
searched_sg.affordances: pickup release
searched_sg.id: laptop_2
searched_sg.parent: shelves_18
searched_sg.room: office_1
searched_sg.type: laptop
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: table_10
searched_sg.room: office_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: laptop_1
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searched_sg.room: office_1
searched_sg.type: laptop
searched_sg.affordances: pickup release
searched_sg.id: jug_1
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searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: bowl_1
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searched_sg.room: kitchen_1
searched_sg.type: bowl
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searched_sg.id: spoon_1
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searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: multiport_hub_1
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: multiport_hub
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