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↔vase_1 table_9↔picture_frame_1 table_9↔toy_airplane_1 bed_6↔cup_1 table_7↔cup_2 chest_of_drawers_11↔clock_1 chest_of_drawers_15↔credit_card_1 chair_8↔candle_1 bed_6↔cushion_1 chest_of_drawers_11↔picture_frame_2 bed_6↔toy_animal_1 chest_of_drawers_11↔helmet_1 chest_of_drawers_11↔backpack_1 cabinet_13↔cup_3 couch_10↔box_1 table_7↔cup_4 table_9↔cushion_2 table_9↔toy_construction_set_1 table_12↔toy_construction_set_2 table_12↔toy_construction_set_3 couch_10↔toy_construction_set_4 couch_10↔toy_construction_set_5 couch_10↔toy_construction_set_6 toilet_5↔cushion_3 toilet_5↔cellphone_1 chest_of_drawers_11↔glass_1 table_9↔clock_2 chest_of_drawers_15↔picture_frame_3 table_12↔vase_2 table_12↔teapot_1 table_12↔lamp_1 chair_8↔cup_5
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: 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: picture_frame_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: toy_airplane
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: cup_2
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: credit_card_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: credit_card
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: backpack_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: backpack
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: 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: cup_4
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_2
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_3
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_4
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_5
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: toy_construction_set_6
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: toy_construction_set
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: clock_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_3
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: lamp_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: cup_5
scene_graph.parent: chair_8
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 vase and teapot from the table in the living room to the table in the kitchen and turn off the lamp in the living room. Clean the table.
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↔candle_1 chair_8↔cup_5 couch_10↔box_1 couch_10↔toy_construction_set_4 couch_10↔toy_construction_set_5 couch_10↔toy_construction_set_6 table_12↔toy_construction_set_2 table_12↔toy_construction_set_3 table_12↔vase_2 table_12↔teapot_1 table_12↔lamp_1 table_9↔vase_1 table_9↔picture_frame_1 table_9↔toy_airplane_1 table_9↔cushion_2 table_9↔toy_construction_set_1 table_9↔clock_2 cabinet_13↔cup_3 table_7↔cup_2 table_7↔cup_4
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: candle_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: cup_5
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: cup
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: toy_construction_set_4
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_5
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_6
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_2
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_3
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: lamp
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: picture_frame_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: picture_frame
searched_sg.affordances: pickup release
searched_sg.id: toy_airplane_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: toy_airplane
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: toy_construction_set_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: toy_construction_set
searched_sg.affordances: pickup release
searched_sg.id: clock_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: clock
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_2
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cup_4
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cup
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