scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_18 bathroom_1↔toilet_11 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_26 bedroom_1↔chest_of_drawers_27 bedroom_1↔floor_bedroom_1 bedroom_1↔stand_40 bedroom_1↔table_38 closet_1↔floor_closet_1 entryway_1↔chest_of_drawers_15 entryway_1↔floor_entryway_1 entryway_1↔unknown_20 hallway_1↔cabinet_24 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_31 kitchen_1↔cabinet_33 kitchen_1↔cabinet_36 kitchen_1↔floor_kitchen_1 kitchen_2↔cabinet_14 kitchen_2↔cabinet_28 kitchen_2↔cabinet_29 kitchen_2↔cabinet_32 kitchen_2↔cabinet_34 kitchen_2↔cabinet_35 kitchen_2↔counter_25 kitchen_2↔floor_kitchen_2 kitchen_2↔fridge_30 kitchen_2↔microwave_37 kitchen_2↔stool_12 kitchen_2↔stool_13 living_room_1↔couch_23 living_room_1↔floor_living_room_1 living_room_1↔shelves_21 living_room_1↔stand_41 living_room_1↔table_19 living_room_1↔table_22 office_1↔cabinet_39 office_1↔chair_16 office_1↔floor_office_1 toilet_1↔floor_toilet_1 toilet_1↔toilet_10 cabinet_14↔teapot_1 cabinet_33↔teapot_2 cabinet_31↔teapot_3 cabinet_28↔cup_1 chest_of_drawers_27↔pitcher_1 chest_of_drawers_27↔toy_animal_1 cabinet_31↔clock_1 cabinet_28↔sponge_1 cabinet_36↔shoe_1 stool_13↔box_1 cabinet_31↔box_2 chest_of_drawers_27↔stuffed_toy_1 cabinet_35↔apple_1 table_22↔kettle_1 table_22↔teapot_4 table_19↔cup_2 couch_23↔cushion_1 stand_40↔box_3 cabinet_39↔pencil_case_1 table_19↔cushion_2 couch_23↔cushion_3 shelves_21↔picture_frame_1 shelves_21↔vase_1 chest_of_drawers_26↔clock_2
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: shower_18
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: toilet_11
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bed_17
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_26
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_27
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: stand_40
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: table_38
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: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: unknown_20
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_24
scene_graph.room: hallway_1
scene_graph.affordances: place
scene_graph.id: floor_hallway_1
scene_graph.room: hallway_1
scene_graph.affordances: place
scene_graph.id: cabinet_31
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_33
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_36
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: cabinet_14
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_28
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_29
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_32
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_34
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_35
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: counter_25
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: floor_kitchen_2
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: fridge_30
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: microwave_37
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: stool_12
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: stool_13
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: couch_23
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: shelves_21
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: stand_41
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_19
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_22
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: cabinet_39
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: chair_16
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: floor_toilet_1
scene_graph.room: toilet_1
scene_graph.affordances: place
scene_graph.id: toilet_10
scene_graph.room: toilet_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: cabinet_14
scene_graph.room: kitchen_2
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: teapot_2
scene_graph.parent: cabinet_33
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: teapot_3
scene_graph.parent: cabinet_31
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: cabinet_28
scene_graph.room: kitchen_2
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: pitcher_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: pitcher
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: cabinet_31
scene_graph.room: kitchen_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: sponge_1
scene_graph.parent: cabinet_28
scene_graph.room: kitchen_2
scene_graph.type: sponge
scene_graph.affordances: pickup release
scene_graph.id: shoe_1
scene_graph.parent: cabinet_36
scene_graph.room: kitchen_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: stool_13
scene_graph.room: kitchen_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: cabinet_31
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: apple_1
scene_graph.parent: cabinet_35
scene_graph.room: kitchen_2
scene_graph.type: apple
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: teapot_4
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: couch_23
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: stand_40
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: pencil_case_1
scene_graph.parent: cabinet_39
scene_graph.room: office_1
scene_graph.type: pencil_case
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: couch_23
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: shelves_21
scene_graph.room: living_room_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: shelves_21
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: clock_2
scene_graph.parent: chest_of_drawers_26
scene_graph.room: bedroom_1
scene_graph.type: clock
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: entryway_1
scene_graph.id: hallway_1
scene_graph.id: kitchen_1
scene_graph.id: kitchen_2
scene_graph.id: laundryroom_1
scene_graph.id: living_room_1
scene_graph.id: office_1
scene_graph.id: toilet_1
scene_graph.id: unknown_room
task: First, bring all teapots to the shelves in the living room. Then, place them next to each other on the cabinet in the kitchen.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 kitchen_1↔cabinet_31 kitchen_1↔cabinet_33 kitchen_1↔cabinet_36 kitchen_1↔floor_kitchen_1 kitchen_2↔cabinet_14 kitchen_2↔cabinet_28 kitchen_2↔cabinet_29 kitchen_2↔cabinet_32 kitchen_2↔cabinet_34 kitchen_2↔cabinet_35 kitchen_2↔counter_25 kitchen_2↔floor_kitchen_2 kitchen_2↔fridge_30 kitchen_2↔microwave_37 kitchen_2↔stool_12 kitchen_2↔stool_13 living_room_1↔couch_23 living_room_1↔floor_living_room_1 living_room_1↔shelves_21 living_room_1↔stand_41 living_room_1↔table_19 living_room_1↔table_22 bathroom_1↔agent cabinet_31↔teapot_3 cabinet_31↔clock_1 cabinet_31↔box_2 cabinet_33↔teapot_2 cabinet_36↔shoe_1 cabinet_14↔teapot_1 cabinet_28↔cup_1 cabinet_28↔sponge_1 cabinet_35↔apple_1 stool_13↔box_1 couch_23↔cushion_1 couch_23↔cushion_3 shelves_21↔picture_frame_1 shelves_21↔vase_1 table_19↔cup_2 table_19↔cushion_2 table_22↔kettle_1 table_22↔teapot_4
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: cabinet_31
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_33
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_36
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: cabinet_14
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: cabinet_28
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: cabinet_29
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: cabinet_32
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: cabinet_34
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: cabinet_35
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: counter_25
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: floor_kitchen_2
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: fridge_30
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: microwave_37
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: stool_12
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: stool_13
searched_sg.room: kitchen_2
searched_sg.affordances: place
searched_sg.id: couch_23
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: shelves_21
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: stand_41
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_19
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_22
searched_sg.room: living_room_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: teapot_3
searched_sg.parent: cabinet_31
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: clock_1
searched_sg.parent: cabinet_31
searched_sg.room: kitchen_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: cabinet_31
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: teapot_2
searched_sg.parent: cabinet_33
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: shoe_1
searched_sg.parent: cabinet_36
searched_sg.room: kitchen_1
searched_sg.type: shoe
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: cabinet_14
searched_sg.room: kitchen_2
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: cabinet_28
searched_sg.room: kitchen_2
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: sponge_1
searched_sg.parent: cabinet_28
searched_sg.room: kitchen_2
searched_sg.type: sponge
searched_sg.affordances: pickup release
searched_sg.id: apple_1
searched_sg.parent: cabinet_35
searched_sg.room: kitchen_2
searched_sg.type: apple
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: stool_13
searched_sg.room: kitchen_2
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: couch_23
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: cushion_3
searched_sg.parent: couch_23
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: picture_frame_1
searched_sg.parent: shelves_21
searched_sg.room: living_room_1
searched_sg.type: picture_frame
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: shelves_21
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cushion_2
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_22
searched_sg.room: living_room_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: teapot_4
searched_sg.parent: table_22
searched_sg.room: living_room_1
searched_sg.type: teapot
searched_sg.id: bathroom_1
searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: entryway_1
searched_sg.id: hallway_1
searched_sg.id: kitchen_1
searched_sg.id: kitchen_2
searched_sg.id: laundryroom_1
searched_sg.id: living_room_1
searched_sg.id: office_1
searched_sg.id: toilet_1
searched_sg.id: unknown_room