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 couch_10↔lamp_1 couch_10↔vase_1 chest_of_drawers_11↔cellphone_1 table_9↔cushion_1 table_7↔cushion_2 bed_6↔pencil_case_1 chest_of_drawers_15↔cushion_3 cabinet_13↔basketball_1 chest_of_drawers_11↔vase_2 cabinet_13↔box_1 table_9↔cushion_4 chest_of_drawers_16↔box_2 chair_8↔basketball_2 chair_8↔can_opener_1 chair_8↔spatula_1 toilet_5↔cushion_5 bed_6↔cup_1 bed_6↔cushion_6 chest_of_drawers_11↔box_3 table_9↔teapot_1 couch_10↔clock_1 chair_8↔stuffed_toy_1 toilet_5↔soap_dispenser_1 cabinet_13↔box_4 toilet_5↔clock_2 table_9↔helmet_1 table_12↔basketball_3 table_12↔tennis_racquet_1 bed_6↔vase_3 toilet_5↔box_5 bed_6↔picture_frame_1 table_9↔cup_2
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: lamp_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: pencil_case_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: pencil_case
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: basketball_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cushion_4
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: basketball_2
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: can_opener_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: can_opener
scene_graph.affordances: pickup release
scene_graph.id: spatula_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: spatula
scene_graph.affordances: pickup release
scene_graph.id: cushion_5
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cushion
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: cushion_6
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: clock_2
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: basketball_3
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: tennis_racquet_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: tennis_racquet
scene_graph.affordances: pickup release
scene_graph.id: vase_3
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: box_5
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cup
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 teapot from the table in the living room to the table in the kitchen and fill the teapot with water. Then, clean the table in the living room.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_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 bathroom_1↔agent chair_8↔basketball_2 chair_8↔can_opener_1 chair_8↔spatula_1 chair_8↔stuffed_toy_1 couch_10↔lamp_1 couch_10↔vase_1 couch_10↔clock_1 table_12↔basketball_3 table_12↔tennis_racquet_1 table_9↔cushion_1 table_9↔cushion_4 table_9↔teapot_1 table_9↔helmet_1 table_9↔cup_2 cabinet_13↔basketball_1 cabinet_13↔box_1 cabinet_13↔box_4 table_7↔cushion_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.affordances: place
searched_sg.id: cabinet_13
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: fridge_14
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: table_7
searched_sg.room: kitchen_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: basketball_2
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: can_opener_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: can_opener
searched_sg.affordances: pickup release
searched_sg.id: spatula_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: spatula
searched_sg.affordances: pickup release
searched_sg.id: stuffed_toy_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: clock_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: basketball_3
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: tennis_racquet_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: tennis_racquet
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: cushion_4
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: helmet_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: helmet
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: box_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cushion
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