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 chest_of_drawers_15↔toy_fruits_1 chest_of_drawers_15↔toy_vehicle_1 chair_8↔dumbbell_1 chest_of_drawers_11↔glass_1 chest_of_drawers_15↔plant_saucer_1 couch_10↔clock_1 chest_of_drawers_11↔cushion_1 table_7↔bread_1 table_7↔cake_pan_1 table_7↔plate_1 bed_6↔bottle_1 toilet_5↔cushion_2 table_7↔jug_1 table_7↔candle_1 table_7↔cushion_3 bed_6↔soap_dispenser_1 bed_6↔potato_1 bed_6↔box_1 table_7↔bread_2 table_7↔plate_2 toilet_5↔tape_1 bed_6↔pan_1 cabinet_13↔can_1 cabinet_13↔can_opener_1 cabinet_13↔book_1 bed_6↔box_2 couch_10↔bottle_2 cabinet_13↔cushion_4
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: toy_fruits_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: toy_fruits
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: dumbbell_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: dumbbell
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: plant_saucer_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: plant_saucer
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: cushion_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: bread_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: bread
scene_graph.affordances: pickup release
scene_graph.id: cake_pan_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cake_pan
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: potato_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: potato
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: bread_2
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: bread
scene_graph.affordances: pickup release
scene_graph.id: plate_2
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: tape_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: tape
scene_graph.affordances: pickup release
scene_graph.id: pan_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: pan
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: can
scene_graph.affordances: pickup release
scene_graph.id: can_opener_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: can_opener
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: cushion_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cushion
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 bread and the cake pan from the table in the kitchen to the table in the living room and 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 cabinet_13↔can_1 cabinet_13↔can_opener_1 cabinet_13↔book_1 cabinet_13↔cushion_4 table_7↔bread_1 table_7↔cake_pan_1 table_7↔plate_1 table_7↔jug_1 table_7↔candle_1 table_7↔cushion_3 table_7↔bread_2 table_7↔plate_2 chair_8↔dumbbell_1 couch_10↔clock_1 couch_10↔bottle_2
searched_sg.id: agent
searched_sg.location: bathroom_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: 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.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: can_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: can
searched_sg.affordances: pickup release
searched_sg.id: can_opener_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: can_opener
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: cushion_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: bread_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: bread
searched_sg.affordances: pickup release
searched_sg.id: cake_pan_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cake_pan
searched_sg.affordances: pickup release
searched_sg.id: plate_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: plate
searched_sg.affordances: pickup release
searched_sg.id: jug_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: jug
searched_sg.affordances: pickup release
searched_sg.id: candle_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: cushion_3
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: bread_2
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: bread
searched_sg.affordances: pickup release
searched_sg.id: plate_2
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: plate
searched_sg.affordances: pickup release
searched_sg.id: dumbbell_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: dumbbell
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: bottle_2
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: bottle
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