scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_14 bathroom_1↔washer_dryer_6 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_21 bedroom_1↔floor_bedroom_1 bedroom_1↔table_22 bedroom_2↔bed_9 bedroom_2↔chest_of_drawers_18 bedroom_2↔chest_of_drawers_19 bedroom_2↔floor_bedroom_2 entryway_1↔floor_entryway_1 entryway_1↔stool_8 entryway_1↔wardrobe_23 kitchen_1↔cabinet_20 kitchen_1↔chair_10 kitchen_1↔chair_11 kitchen_1↔chair_12 kitchen_1↔counter_16 kitchen_1↔floor_kitchen_1 living_room_1↔couch_15 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_13 table_13↔kettle_1 table_13↔teapot_1 table_13↔cup_1 table_22↔lamp_1 table_22↔cushion_1 table_22↔teapot_2 shelves_7↔glass_1 chest_of_drawers_21↔cup_2 shelves_7↔dumbbell_1 shelves_7↔glass_2 chest_of_drawers_19↔statue_1 chest_of_drawers_19↔candle_holder_1 chest_of_drawers_19↔stuffed_toy_1 shower_14↔teapot_3 shelves_7↔glass_3 counter_16↔bowl_1 chair_11↔pitcher_1 chair_11↔scissors_1 chair_11↔scissors_2 counter_16↔glass_4 counter_16↔fork_1 shelves_7↔bottle_1 bed_9↔cushion_2 chest_of_drawers_18↔box_1 chair_11↔can_1 table_13↔book_1 table_13↔picture_frame_1 table_22↔multiport_hub_1
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: shower_14
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: washer_dryer_6
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bed_17
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_21
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_22
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: bed_9
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_18
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_19
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: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: stool_8
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: wardrobe_23
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_20
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_10
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_11
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_12
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: counter_16
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: couch_15
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: shelves_7
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_13
scene_graph.room: living_room_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: lamp_1
scene_graph.parent: table_22
scene_graph.room: bedroom_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: table_22
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: teapot_2
scene_graph.parent: table_22
scene_graph.room: bedroom_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: chest_of_drawers_21
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: dumbbell_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: dumbbell
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: statue_1
scene_graph.parent: chest_of_drawers_19
scene_graph.room: bedroom_2
scene_graph.type: statue
scene_graph.affordances: pickup release
scene_graph.id: candle_holder_1
scene_graph.parent: chest_of_drawers_19
scene_graph.room: bedroom_2
scene_graph.type: candle_holder
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: chest_of_drawers_19
scene_graph.room: bedroom_2
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: teapot_3
scene_graph.parent: shower_14
scene_graph.room: bathroom_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: pitcher_1
scene_graph.parent: chair_11
scene_graph.room: kitchen_1
scene_graph.type: pitcher
scene_graph.affordances: pickup release
scene_graph.id: scissors_1
scene_graph.parent: chair_11
scene_graph.room: kitchen_1
scene_graph.type: scissors
scene_graph.affordances: pickup release
scene_graph.id: scissors_2
scene_graph.parent: chair_11
scene_graph.room: kitchen_1
scene_graph.type: scissors
scene_graph.affordances: pickup release
scene_graph.id: glass_4
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: fork_1
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: fork
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: bed_9
scene_graph.room: bedroom_2
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: chest_of_drawers_18
scene_graph.room: bedroom_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: chair_11
scene_graph.room: kitchen_1
scene_graph.type: can
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: multiport_hub_1
scene_graph.parent: table_22
scene_graph.room: bedroom_1
scene_graph.type: multiport_hub
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: bedroom_2
scene_graph.id: closet_1
scene_graph.id: entryway_1
scene_graph.id: kitchen_1
scene_graph.id: living_room_1
scene_graph.id: unknown_room
task: Move the kettle, teapot, and cup from the living room table to the kitchen counter and fill all with water. Then, turn on the lamp, and clean the living room table.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_14 bathroom_1↔washer_dryer_6 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_21 bedroom_1↔floor_bedroom_1 bedroom_1↔table_22 bedroom_2↔bed_9 bedroom_2↔chest_of_drawers_18 bedroom_2↔chest_of_drawers_19 bedroom_2↔floor_bedroom_2 entryway_1↔floor_entryway_1 entryway_1↔stool_8 entryway_1↔wardrobe_23 kitchen_1↔cabinet_20 kitchen_1↔chair_10 kitchen_1↔chair_11 kitchen_1↔chair_12 kitchen_1↔counter_16 kitchen_1↔floor_kitchen_1 living_room_1↔couch_15 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_13 table_13↔kettle_1 table_13↔teapot_1 table_13↔cup_1 table_22↔lamp_1 table_22↔cushion_1 table_22↔teapot_2 shelves_7↔glass_1 chest_of_drawers_21↔cup_2 shelves_7↔dumbbell_1 shelves_7↔glass_2 chest_of_drawers_19↔statue_1 chest_of_drawers_19↔candle_holder_1 chest_of_drawers_19↔stuffed_toy_1 shower_14↔teapot_3 shelves_7↔glass_3 counter_16↔bowl_1 chair_11↔pitcher_1 chair_11↔scissors_1 chair_11↔scissors_2 counter_16↔glass_4 counter_16↔fork_1 shelves_7↔bottle_1 bed_9↔cushion_2 chest_of_drawers_18↔box_1 chair_11↔can_1 table_13↔book_1 table_13↔picture_frame_1 table_22↔multiport_hub_1
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: shower_14
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: washer_dryer_6
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: bed_17
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_21
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_22
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: bed_9
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_18
searched_sg.room: bedroom_2
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_19
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: floor_entryway_1
searched_sg.room: entryway_1
searched_sg.affordances: place
searched_sg.id: stool_8
searched_sg.room: entryway_1
searched_sg.affordances: place
searched_sg.id: wardrobe_23
searched_sg.room: entryway_1
searched_sg.affordances: place
searched_sg.id: cabinet_20
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_10
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_11
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_12
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: counter_16
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: couch_15
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: shelves_7
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_13
searched_sg.room: living_room_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: table_22
searched_sg.room: bedroom_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: table_22
searched_sg.room: bedroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: teapot_2
searched_sg.parent: table_22
searched_sg.room: bedroom_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: glass_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: chest_of_drawers_21
searched_sg.room: bedroom_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: dumbbell_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: dumbbell
searched_sg.affordances: pickup release
searched_sg.id: glass_2
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: statue_1
searched_sg.parent: chest_of_drawers_19
searched_sg.room: bedroom_2
searched_sg.type: statue
searched_sg.affordances: pickup release
searched_sg.id: candle_holder_1
searched_sg.parent: chest_of_drawers_19
searched_sg.room: bedroom_2
searched_sg.type: candle_holder
searched_sg.affordances: pickup release
searched_sg.id: stuffed_toy_1
searched_sg.parent: chest_of_drawers_19
searched_sg.room: bedroom_2
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: teapot_3
searched_sg.parent: shower_14
searched_sg.room: bathroom_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: glass_3
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: bowl_1
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: bowl
searched_sg.affordances: pickup release
searched_sg.id: pitcher_1
searched_sg.parent: chair_11
searched_sg.room: kitchen_1
searched_sg.type: pitcher
searched_sg.affordances: pickup release
searched_sg.id: scissors_1
searched_sg.parent: chair_11
searched_sg.room: kitchen_1
searched_sg.type: scissors
searched_sg.affordances: pickup release
searched_sg.id: scissors_2
searched_sg.parent: chair_11
searched_sg.room: kitchen_1
searched_sg.type: scissors
searched_sg.affordances: pickup release
searched_sg.id: glass_4
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: fork_1
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: fork
searched_sg.affordances: pickup release
searched_sg.id: bottle_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: bed_9
searched_sg.room: bedroom_2
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: chest_of_drawers_18
searched_sg.room: bedroom_2
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: can_1
searched_sg.parent: chair_11
searched_sg.room: kitchen_1
searched_sg.type: can
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: picture_frame_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: picture_frame
searched_sg.affordances: pickup release
searched_sg.id: multiport_hub_1
searched_sg.parent: table_22
searched_sg.room: bedroom_1
searched_sg.type: multiport_hub
searched_sg.id: bathroom_1
searched_sg.id: bedroom_1
searched_sg.id: bedroom_2
searched_sg.id: closet_1
searched_sg.id: entryway_1
searched_sg.id: kitchen_1
searched_sg.id: living_room_1
searched_sg.id: unknown_room