scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔toilet_25 bathroom_2↔bathtub_11 bathroom_2↔cabinet_31 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_9 bedroom_1↔bed_21 bedroom_1↔chair_20 bedroom_1↔chest_of_drawers_28 bedroom_1↔floor_bedroom_1 bedroom_1↔table_16 bedroom_1↔table_29 bedroom_2↔bed_10 bedroom_2↔chair_15 bedroom_2↔chest_of_drawers_27 bedroom_2↔floor_bedroom_2 bedroom_3↔bed_12 bedroom_3↔bed_13 bedroom_3↔chest_of_drawers_30 bedroom_3↔counter_32 bedroom_3↔floor_bedroom_3 closet_2↔floor_closet_2 entryway_1↔floor_entryway_1 kitchen_1↔cabinet_26 kitchen_1↔floor_kitchen_1 kitchen_1↔stool_24 living_room_1↔chair_22 living_room_1↔chair_23 living_room_1↔couch_17 living_room_1↔floor_living_room_1 living_room_1↔table_14 living_room_1↔table_18 living_room_1↔table_19 living_room_1↔unknown_33 chest_of_drawers_27↔toy_animal_1 chest_of_drawers_27↔toy_animal_2 chest_of_drawers_27↔vase_1 chest_of_drawers_27↔laptop_1 cabinet_31↔cup_1 cabinet_26↔soap_dispenser_1 chair_20↔cushion_1 bed_21↔cushion_2 table_14↔box_1 table_14↔kettle_1 table_14↔teapot_1 table_14↔cup_2 table_14↔lamp_1 toilet_25↔plate_1 chair_23↔box_2 chair_15↔cushion_3 bed_21↔cushion_4 table_16↔doll_1 table_16↔toy_food_1 table_16↔toy_animal_3 couch_17↔spray_bottle_1 bed_10↔cushion_5 bed_21↔box_3 table_14↔laptop_stand_1 table_14↔monitor_stand_1 table_29↔basketball_1 bed_10↔box_4 bed_21↔cup_3 table_16↔candle_1 table_16↔vase_2 table_19↔spoon_1 toilet_25↔book_1 bed_21↔cup_4 cabinet_26↔cushion_6 chair_15↔box_5 counter_32↔box_6
scene_graph.id: agent
scene_graph.location: bathroom_1
scene_graph.affordances: place
scene_graph.id: floor_bathroom_1
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: toilet_25
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bathtub_11
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: cabinet_31
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: floor_bathroom_2
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: toilet_9
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: bed_21
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chair_20
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_28
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_16
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: table_29
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: bed_10
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chair_15
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: floor_bedroom_2
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: bed_12
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: bed_13
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_30
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: counter_32
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: floor_bedroom_3
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: floor_closet_2
scene_graph.room: closet_2
scene_graph.affordances: place
scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_26
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: stool_24
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_22
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: chair_23
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: couch_17
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: floor_living_room_1
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_14
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_18
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_19
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: unknown_33
scene_graph.room: living_room_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_2
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: laptop_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.type: laptop
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: cabinet_31
scene_graph.room: bathroom_2
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: chair_20
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: lamp_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: toilet_25
scene_graph.room: bathroom_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: chair_23
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: chair_15
scene_graph.room: bedroom_2
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cushion_4
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: toy_food_1
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: toy_food
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_3
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: spray_bottle_1
scene_graph.parent: couch_17
scene_graph.room: living_room_1
scene_graph.type: spray_bottle
scene_graph.affordances: pickup release
scene_graph.id: cushion_5
scene_graph.parent: bed_10
scene_graph.room: bedroom_2
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: laptop_stand_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: laptop_stand
scene_graph.affordances: pickup release
scene_graph.id: monitor_stand_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: monitor_stand
scene_graph.affordances: pickup release
scene_graph.id: basketball_1
scene_graph.parent: table_29
scene_graph.room: bedroom_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: bed_10
scene_graph.room: bedroom_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: toilet_25
scene_graph.room: bathroom_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_6
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_5
scene_graph.parent: chair_15
scene_graph.room: bedroom_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: box_6
scene_graph.parent: counter_32
scene_graph.room: bedroom_3
scene_graph.type: box
scene_graph.id: bathroom_1
scene_graph.id: bathroom_2
scene_graph.id: bedroom_1
scene_graph.id: bedroom_2
scene_graph.id: bedroom_3
scene_graph.id: closet_1
scene_graph.id: closet_2
scene_graph.id: entryway_1
scene_graph.id: kitchen_1
scene_graph.id: living_room_1
scene_graph.id: unknown_room
task: First, move the doll, toy food, and toy animal from the bedroom to the living room. Place the doll on the table and the toy food and toy animal on the couch placing them next to each other. Then move all these items to the dining room and place them on the chair.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔toilet_25 bathroom_2↔bathtub_11 bathroom_2↔cabinet_31 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_9 bedroom_1↔bed_21 bedroom_1↔chair_20 bedroom_1↔chest_of_drawers_28 bedroom_1↔floor_bedroom_1 bedroom_1↔table_16 bedroom_1↔table_29 bedroom_2↔bed_10 bedroom_2↔chair_15 bedroom_2↔chest_of_drawers_27 bedroom_2↔floor_bedroom_2 bedroom_3↔bed_12 bedroom_3↔bed_13 bedroom_3↔chest_of_drawers_30 bedroom_3↔counter_32 bedroom_3↔floor_bedroom_3 closet_2↔floor_closet_2 entryway_1↔floor_entryway_1 kitchen_1↔cabinet_26 kitchen_1↔floor_kitchen_1 kitchen_1↔stool_24 living_room_1↔chair_22 living_room_1↔chair_23 living_room_1↔couch_17 living_room_1↔floor_living_room_1 living_room_1↔table_14 living_room_1↔table_18 living_room_1↔table_19 living_room_1↔unknown_33 chest_of_drawers_27↔toy_animal_1 chest_of_drawers_27↔toy_animal_2 chest_of_drawers_27↔vase_1 chest_of_drawers_27↔laptop_1 cabinet_31↔cup_1 cabinet_26↔soap_dispenser_1 chair_20↔cushion_1 bed_21↔cushion_2 table_14↔box_1 table_14↔kettle_1 table_14↔teapot_1 table_14↔cup_2 table_14↔lamp_1 toilet_25↔plate_1 chair_23↔box_2 chair_15↔cushion_3 bed_21↔cushion_4 table_16↔doll_1 table_16↔toy_food_1 table_16↔toy_animal_3 couch_17↔spray_bottle_1 bed_10↔cushion_5 bed_21↔box_3 table_14↔laptop_stand_1 table_14↔monitor_stand_1 table_29↔basketball_1 bed_10↔box_4 bed_21↔cup_3 table_16↔candle_1 table_16↔vase_2 table_19↔spoon_1 toilet_25↔book_1 bed_21↔cup_4 cabinet_26↔cushion_6 chair_15↔box_5 counter_32↔box_6
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: floor_bathroom_1
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: toilet_25
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: bathtub_11
searched_sg.room: bathroom_2
searched_sg.affordances: place
searched_sg.id: cabinet_31
searched_sg.room: bathroom_2
searched_sg.affordances: place
searched_sg.id: floor_bathroom_2
searched_sg.room: bathroom_2
searched_sg.affordances: place
searched_sg.id: toilet_9
searched_sg.room: bathroom_2
searched_sg.affordances: place
searched_sg.id: bed_21
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chair_20
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_28
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_16
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: table_29
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: bed_10
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: chair_15
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_27
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: floor_bedroom_2
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: bed_12
searched_sg.room: bedroom_3
searched_sg.affordances: place
searched_sg.id: bed_13
searched_sg.room: bedroom_3
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_30
searched_sg.room: bedroom_3
searched_sg.affordances: place
searched_sg.id: counter_32
searched_sg.room: bedroom_3
searched_sg.affordances: place
searched_sg.id: floor_bedroom_3
searched_sg.room: bedroom_3
searched_sg.affordances: place
searched_sg.id: floor_closet_2
searched_sg.room: closet_2
searched_sg.affordances: place
searched_sg.id: floor_entryway_1
searched_sg.room: entryway_1
searched_sg.affordances: place
searched_sg.id: cabinet_26
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: floor_kitchen_1
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: stool_24
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_22
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: chair_23
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: couch_17
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: floor_living_room_1
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_14
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_18
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_19
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: unknown_33
searched_sg.room: living_room_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_1
searched_sg.parent: chest_of_drawers_27
searched_sg.room: bedroom_2
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_2
searched_sg.parent: chest_of_drawers_27
searched_sg.room: bedroom_2
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: chest_of_drawers_27
searched_sg.room: bedroom_2
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: laptop_1
searched_sg.parent: chest_of_drawers_27
searched_sg.room: bedroom_2
searched_sg.type: laptop
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: cabinet_31
searched_sg.room: bathroom_2
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: soap_dispenser_1
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: soap_dispenser
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: chair_20
searched_sg.room: bedroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: bed_21
searched_sg.room: bedroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: plate_1
searched_sg.parent: toilet_25
searched_sg.room: bathroom_1
searched_sg.type: plate
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: chair_23
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cushion_3
searched_sg.parent: chair_15
searched_sg.room: bedroom_2
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: cushion_4
searched_sg.parent: bed_21
searched_sg.room: bedroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: doll_1
searched_sg.parent: table_16
searched_sg.room: bedroom_1
searched_sg.type: doll
searched_sg.affordances: pickup release
searched_sg.id: toy_food_1
searched_sg.parent: table_16
searched_sg.room: bedroom_1
searched_sg.type: toy_food
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_3
searched_sg.parent: table_16
searched_sg.room: bedroom_1
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: spray_bottle_1
searched_sg.parent: couch_17
searched_sg.room: living_room_1
searched_sg.type: spray_bottle
searched_sg.affordances: pickup release
searched_sg.id: cushion_5
searched_sg.parent: bed_10
searched_sg.room: bedroom_2
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: box_3
searched_sg.parent: bed_21
searched_sg.room: bedroom_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: laptop_stand_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: laptop_stand
searched_sg.affordances: pickup release
searched_sg.id: monitor_stand_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: monitor_stand
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: table_29
searched_sg.room: bedroom_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: box_4
searched_sg.parent: bed_10
searched_sg.room: bedroom_2
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: bed_21
searched_sg.room: bedroom_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: candle_1
searched_sg.parent: table_16
searched_sg.room: bedroom_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: table_16
searched_sg.room: bedroom_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: spoon_1
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: toilet_25
searched_sg.room: bathroom_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: cup_4
searched_sg.parent: bed_21
searched_sg.room: bedroom_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cushion_6
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: box_5
searched_sg.parent: chair_15
searched_sg.room: bedroom_2
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: box_6
searched_sg.parent: counter_32
searched_sg.room: bedroom_3
searched_sg.type: box
searched_sg.id: bathroom_1
searched_sg.id: bathroom_2
searched_sg.id: bedroom_1
searched_sg.id: bedroom_2
searched_sg.id: bedroom_3
searched_sg.id: closet_1
searched_sg.id: closet_2
searched_sg.id: entryway_1
searched_sg.id: kitchen_1
searched_sg.id: living_room_1
searched_sg.id: unknown_room