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↔bread_1 cabinet_22↔kettle_1 cabinet_22↔spoon_1 cabinet_27↔cup_1 table_8↔glass_1 shelves_18↔egg_1 cabinet_22↔kettle_2 cabinet_22↔cup_2 cabinet_22↔cup_3 cabinet_22↔spoon_2 cabinet_22↔spoon_3 cabinet_22↔bowl_1 cabinet_22↔apple_1 table_13↔plate_1 bed_14↔glass_2 couch_19↔multiport_hub_1 shelves_18↔vase_1 shelves_18↔picture_frame_1 toilet_7↔glass_3 bed_14↔cushion_1 unknown_11↔candle_1 table_10↔laptop_1 table_10↔book_1 table_10↔cellphone_1 stand_20↔toy_animal_1 couch_19↔potato_1 table_10↔monitor_stand_1 table_10↔monitor_stand_2 table_10↔monitor_stand_3 shelves_18↔file_sorter_1 shelves_18↔file_sorter_2 shelves_18↔c-clamp_1 shelves_18↔c-clamp_2 table_12↔laptop_stand_1 stand_20↔shoe_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: bread_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: bread
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: kettle
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: cup_1
scene_graph.parent: cabinet_27
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: egg_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: egg
scene_graph.affordances: pickup release
scene_graph.id: kettle_2
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: spoon_2
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: spoon_3
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: spoon
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: apple_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: apple
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: table_13
scene_graph.room: bedroom_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: bed_14
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: multiport_hub_1
scene_graph.parent: couch_19
scene_graph.room: bathroom_1
scene_graph.type: multiport_hub
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: toilet_7
scene_graph.room: bathroom_2
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: bed_14
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: unknown_11
scene_graph.room: kitchen_1
scene_graph.type: candle
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: book_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: potato_1
scene_graph.parent: couch_19
scene_graph.room: bathroom_1
scene_graph.type: potato
scene_graph.affordances: pickup release
scene_graph.id: monitor_stand_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: monitor_stand
scene_graph.affordances: pickup release
scene_graph.id: monitor_stand_2
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: monitor_stand
scene_graph.affordances: pickup release
scene_graph.id: monitor_stand_3
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: monitor_stand
scene_graph.affordances: pickup release
scene_graph.id: file_sorter_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: file_sorter
scene_graph.affordances: pickup release
scene_graph.id: file_sorter_2
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: file_sorter
scene_graph.affordances: pickup release
scene_graph.id: c-clamp_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: c-clamp
scene_graph.affordances: pickup release
scene_graph.id: c-clamp_2
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: c-clamp
scene_graph.affordances: pickup release
scene_graph.id: laptop_stand_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: laptop_stand
scene_graph.affordances: pickup release
scene_graph.id: shoe_1
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: shoe
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 breakfast. Fill the kettle on the kitchen counter with water and turn it on. Take two cups, two spoons, and one bowl from the kitchen cabinet and set them on the dining table. Also clean the dining table and take one apple from the kitchen cabinet and put it on the table.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 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 bathroom_1↔agent cabinet_22↔bread_1 cabinet_22↔kettle_1 cabinet_22↔spoon_1 cabinet_22↔kettle_2 cabinet_22↔cup_2 cabinet_22↔cup_3 cabinet_22↔spoon_2 cabinet_22↔spoon_3 cabinet_22↔bowl_1 cabinet_22↔apple_1 cabinet_27↔cup_1 unknown_11↔candle_1 table_8↔glass_1
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: cabinet_22
searched_sg.room: kitchen_1
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searched_sg.room: kitchen_1
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searched_sg.id: cabinet_27
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searched_sg.room: dining_booth_1
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searched_sg.id: hssd
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searched_sg.id: bread_1
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searched_sg.room: kitchen_1
searched_sg.type: bread
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
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searched_sg.room: kitchen_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: spoon_1
searched_sg.parent: cabinet_22
searched_sg.room: kitchen_1
searched_sg.type: spoon
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searched_sg.id: kettle_2
searched_sg.parent: cabinet_22
searched_sg.room: kitchen_1
searched_sg.type: kettle
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searched_sg.id: cup_2
searched_sg.parent: cabinet_22
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searched_sg.type: cup
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searched_sg.id: cup_3
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searched_sg.id: spoon_2
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searched_sg.id: bowl_1
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searched_sg.type: bowl
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searched_sg.id: apple_1
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searched_sg.room: kitchen_1
searched_sg.type: apple
searched_sg.affordances: pickup release
searched_sg.id: cup_1
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searched_sg.room: kitchen_1
searched_sg.type: cup
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searched_sg.id: candle_1
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searched_sg.room: kitchen_1
searched_sg.type: candle
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searched_sg.id: glass_1
searched_sg.parent: table_8
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searched_sg.type: glass
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searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: dining_booth_1
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searched_sg.id: laundryroom_1
searched_sg.id: office_1
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