scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔toilet_5 bedroom_1↔bed_6 bedroom_1↔chest_of_drawers_11 bedroom_1↔chest_of_drawers_15 bedroom_1↔chest_of_drawers_16 bedroom_1↔floor_bedroom_1 closet_1↔floor_closet_1 kitchen_1↔cabinet_13 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_14 kitchen_1↔table_7 living_room_1↔chair_8 living_room_1↔couch_10 living_room_1↔floor_living_room_1 living_room_1↔table_12 living_room_1↔table_9 table_9↔toy_construction_set_1 table_9↔hammer_1 table_9↔c-clamp_1 bed_6↔cup_1 bed_6↔glass_1 cabinet_13↔stuffed_toy_1 chair_8↔toy_airplane_1 chair_8↔toy_swing_1 toilet_5↔glass_2 table_7↔box_1 couch_10↔book_1 couch_10↔folder_1 toilet_5↔bowl_1 chest_of_drawers_11↔cup_2 cabinet_13↔cushion_1 couch_10↔basketball_1 couch_10↔baseballbat_1 table_9↔hammer_2 table_12↔bowl_2 toilet_5↔cup_3 chest_of_drawers_11↔cushion_2 table_12↔vase_1 chest_of_drawers_16↔soap_dispenser_1 table_7↔apple_1 cabinet_13↔hand_towel_1 chest_of_drawers_15↔picture_frame_1 couch_10↔can_1 table_7↔shoe_1 toilet_5↔cushion_3 chest_of_drawers_16↔glass_3
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_5
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bed_6
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_16
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: floor_closet_1
scene_graph.room: closet_1
scene_graph.affordances: place
scene_graph.id: cabinet_13
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_14
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: table_7
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_8
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: couch_10
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_12
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_9
scene_graph.room: living_room_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: hammer_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: hammer
scene_graph.affordances: pickup release
scene_graph.id: c-clamp_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: c-clamp
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: toy_airplane
scene_graph.affordances: pickup release
scene_graph.id: toy_swing_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: toy_swing
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: folder_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: folder
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: basketball_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: baseballbat_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: baseballbat
scene_graph.affordances: pickup release
scene_graph.id: hammer_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: hammer
scene_graph.affordances: pickup release
scene_graph.id: bowl_2
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: apple_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: apple
scene_graph.affordances: pickup release
scene_graph.id: hand_towel_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: hand_towel
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: can
scene_graph.affordances: pickup release
scene_graph.id: shoe_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: kitchen_1
scene_graph.id: living_room_1
scene_graph.id: unknown_room
task: Move the book and the folder from the couch to the table and clean the couch.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 living_room_1↔chair_8 living_room_1↔couch_10 living_room_1↔floor_living_room_1 living_room_1↔table_12 living_room_1↔table_9 bathroom_1↔agent chair_8↔toy_airplane_1 chair_8↔toy_swing_1 couch_10↔book_1 couch_10↔folder_1 couch_10↔basketball_1 couch_10↔baseballbat_1 couch_10↔can_1 table_12↔bowl_2 table_12↔vase_1 table_9↔toy_construction_set_1 table_9↔hammer_1 table_9↔c-clamp_1 table_9↔hammer_2
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: chair_8
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: couch_10
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_12
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_9
searched_sg.room: living_room_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: toy_airplane_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: toy_airplane
searched_sg.affordances: pickup release
searched_sg.id: toy_swing_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: toy_swing
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: folder_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: folder
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: baseballbat_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: baseballbat
searched_sg.affordances: pickup release
searched_sg.id: can_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: can
searched_sg.affordances: pickup release
searched_sg.id: bowl_2
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: bowl
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: hammer_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: hammer
searched_sg.affordances: pickup release
searched_sg.id: c-clamp_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: c-clamp
searched_sg.affordances: pickup release
searched_sg.id: hammer_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: hammer
searched_sg.id: bathroom_1
searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: kitchen_1
searched_sg.id: living_room_1
searched_sg.id: unknown_room