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 cabinet_13↔pan_1 table_12↔hammer_1 toilet_5↔bowl_1 table_7↔cushion_1 chest_of_drawers_15↔cup_1 chest_of_drawers_16↔candle_1 table_9↔cup_2 table_12↔vase_1 table_12↔plant_container_1 table_12↔statue_1 bed_6↔bowl_2 cabinet_13↔cushion_2 table_9↔basket_1 table_9↔vase_2 bed_6↔cup_3 chest_of_drawers_11↔jug_1 chest_of_drawers_11↔bottle_1 chest_of_drawers_11↔cup_4 cabinet_13↔multiport_hub_1 table_9↔cup_5 cabinet_13↔cup_6 table_9↔soap_dish_1 table_9↔candle_2 couch_10↔cushion_3 table_12↔vase_3 toilet_5↔cup_7 toilet_5↔glass_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: pan_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: pan
scene_graph.affordances: pickup release
scene_graph.id: hammer_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: hammer
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: cushion_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: candle
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.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: plant_container_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: plant_container
scene_graph.affordances: pickup release
scene_graph.id: statue_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: statue
scene_graph.affordances: pickup release
scene_graph.id: bowl_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: basket_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: basket
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: jug
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.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: multiport_hub_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: multiport_hub
scene_graph.affordances: pickup release
scene_graph.id: cup_5
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cup_6
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: soap_dish_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: soap_dish
scene_graph.affordances: pickup release
scene_graph.id: candle_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: vase_3
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: cup_7
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_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: Help me tidy up the living room. First, place the candle on the table next to the vase? Oh, and I'm going to be sitting here a while. Can you bring a cushion, too? Setting it on the table is fine.
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 couch_10↔cushion_3 table_12↔hammer_1 table_12↔vase_1 table_12↔plant_container_1 table_12↔statue_1 table_12↔vase_3 table_9↔cup_2 table_9↔basket_1 table_9↔vase_2 table_9↔cup_5 table_9↔soap_dish_1 table_9↔candle_2 cabinet_13↔pan_1 cabinet_13↔cushion_2 cabinet_13↔multiport_hub_1 cabinet_13↔cup_6 table_7↔cushion_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.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: cushion_3
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: hammer_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: hammer
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: plant_container_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: plant_container
searched_sg.affordances: pickup release
searched_sg.id: statue_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: statue
searched_sg.affordances: pickup release
searched_sg.id: vase_3
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: vase
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: basket_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: basket
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: cup_5
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: soap_dish_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: soap_dish
searched_sg.affordances: pickup release
searched_sg.id: candle_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: pan_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: pan
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: multiport_hub_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: multiport_hub
searched_sg.affordances: pickup release
searched_sg.id: cup_6
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
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