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↔lamp_1 table_9↔book_1 table_7↔cup_1 bed_6↔toy_construction_set_1 couch_10↔box_1 chest_of_drawers_15↔glass_1 toilet_5↔helmet_1 couch_10↔box_2 table_9↔vase_1 table_12↔doll_1 couch_10↔vase_2 couch_10↔doll_2 cabinet_13↔box_3 toilet_5↔soap_dispenser_1 toilet_5↔toy_swing_1 table_7↔box_4 cabinet_13↔teapot_1 cabinet_13↔teapot_2 cabinet_13↔teapot_3 cabinet_13↔teapot_4 cabinet_13↔cup_2 cabinet_13↔cup_3 cabinet_13↔cup_4 cabinet_13↔cup_5 cabinet_13↔spoon_1 cabinet_13↔spoon_2 cabinet_13↔spoon_3 cabinet_13↔spoon_4 bed_6↔glass_2 chest_of_drawers_11↔bottle_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: 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: table_9
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: doll_2
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
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: toy_swing_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: toy_swing
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: teapot_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: teapot_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: teapot_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_5
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: spoon_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: spoon_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: spoon_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: bottle
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: Turn off the lamp on table in the living room. Bring a book from the living room and a filled cup of water from the kitchen to the bedroom. Then, clean the table in the living room.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 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 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 couch_10↔box_1 couch_10↔box_2 couch_10↔vase_2 couch_10↔doll_2 table_12↔doll_1 table_9↔lamp_1 table_9↔book_1 table_9↔vase_1 cabinet_13↔box_3 cabinet_13↔teapot_1 cabinet_13↔teapot_2 cabinet_13↔teapot_3 cabinet_13↔teapot_4 cabinet_13↔cup_2 cabinet_13↔cup_3 cabinet_13↔cup_4 cabinet_13↔cup_5 cabinet_13↔spoon_1 cabinet_13↔spoon_2 cabinet_13↔spoon_3 cabinet_13↔spoon_4 table_7↔cup_1 table_7↔box_4 bed_6↔toy_construction_set_1 bed_6↔glass_2 chest_of_drawers_11↔bottle_1 chest_of_drawers_15↔glass_1
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.affordances: place
searched_sg.id: bed_6
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_15
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_16
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: floor_bedroom_1
searched_sg.room: bedroom_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: doll_2
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: doll
searched_sg.affordances: pickup release
searched_sg.id: doll_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: doll
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: box_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: teapot_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: teapot_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: teapot_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cup_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cup_5
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: spoon_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: spoon_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: spoon_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: spoon_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: box_4
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: glass_2
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: bottle_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: glass_1
searched_sg.parent: chest_of_drawers_15
searched_sg.room: bedroom_1
searched_sg.type: glass
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