scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔toilet_25 bathroom_2↔bathtub_11 bathroom_2↔cabinet_31 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_9 bedroom_1↔bed_21 bedroom_1↔chair_20 bedroom_1↔chest_of_drawers_28 bedroom_1↔floor_bedroom_1 bedroom_1↔table_16 bedroom_1↔table_29 bedroom_2↔bed_10 bedroom_2↔chair_15 bedroom_2↔chest_of_drawers_27 bedroom_2↔floor_bedroom_2 bedroom_3↔bed_12 bedroom_3↔bed_13 bedroom_3↔chest_of_drawers_30 bedroom_3↔counter_32 bedroom_3↔floor_bedroom_3 closet_2↔floor_closet_2 entryway_1↔floor_entryway_1 kitchen_1↔cabinet_26 kitchen_1↔floor_kitchen_1 kitchen_1↔stool_24 living_room_1↔chair_22 living_room_1↔chair_23 living_room_1↔couch_17 living_room_1↔floor_living_room_1 living_room_1↔table_14 living_room_1↔table_18 living_room_1↔table_19 living_room_1↔unknown_33 table_29↔cup_1 table_29↔jug_1 bed_21↔glass_1 bed_12↔glass_2 bed_12↔candle_1 chest_of_drawers_30↔cushion_1 table_14↔basketball_1 table_14↔tennis_racquet_1 bed_21↔picture_frame_1 chair_23↔bottle_1 table_14↔glass_3 cabinet_26↔candle_2 bed_12↔cushion_2 table_16↔handbag_1 unknown_33↔bottle_2 table_14↔stuffed_toy_1 table_19↔glass_4 cabinet_26↔pitcher_1 chest_of_drawers_28↔cushion_3 cabinet_26↔kettle_1 cabinet_26↔spoon_1 chair_23↔cushion_4 table_14↔soap_dispenser_1 bed_10↔cup_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: toilet_25
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bathtub_11
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: cabinet_31
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: floor_bathroom_2
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: toilet_9
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: bed_21
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chair_20
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_28
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: table_16
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: table_29
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: bed_10
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chair_15
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_27
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: floor_bedroom_2
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: bed_12
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: bed_13
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_30
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: counter_32
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: floor_bedroom_3
scene_graph.room: bedroom_3
scene_graph.affordances: place
scene_graph.id: floor_closet_2
scene_graph.room: closet_2
scene_graph.affordances: place
scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_26
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: stool_24
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_22
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: chair_23
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: couch_17
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_14
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_18
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: unknown_33
scene_graph.room: living_room_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_29
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: table_29
scene_graph.room: bedroom_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: bed_12
scene_graph.room: bedroom_3
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: bed_12
scene_graph.room: bedroom_3
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: chest_of_drawers_30
scene_graph.room: bedroom_3
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: basketball_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: tennis_racquet_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: tennis_racquet
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: bed_21
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: chair_23
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: candle_2
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: bed_12
scene_graph.room: bedroom_3
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: handbag_1
scene_graph.parent: table_16
scene_graph.room: bedroom_1
scene_graph.type: handbag
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: unknown_33
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: glass_4
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: pitcher_1
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: pitcher
scene_graph.affordances: pickup release
scene_graph.id: cushion_3
scene_graph.parent: chest_of_drawers_28
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: cabinet_26
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: cushion_4
scene_graph.parent: chair_23
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: table_14
scene_graph.room: living_room_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: bed_10
scene_graph.room: bedroom_2
scene_graph.type: cup
scene_graph.id: bathroom_1
scene_graph.id: bathroom_2
scene_graph.id: bedroom_1
scene_graph.id: bedroom_2
scene_graph.id: bedroom_3
scene_graph.id: closet_1
scene_graph.id: closet_2
scene_graph.id: entryway_1
scene_graph.id: kitchen_1
scene_graph.id: living_room_1
scene_graph.id: unknown_room
task: Move the kettle and the spoon from the kitchen counter to the living room table, fill the kettle with water and turn it on. After that, place the spoon on the couch and clean the kitchen counter.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 kitchen_1↔cabinet_26 kitchen_1↔floor_kitchen_1 kitchen_1↔stool_24 living_room_1↔chair_22 living_room_1↔chair_23 living_room_1↔couch_17 living_room_1↔floor_living_room_1 living_room_1↔table_14 living_room_1↔table_18 living_room_1↔table_19 living_room_1↔unknown_33 bathroom_1↔agent cabinet_26↔candle_2 cabinet_26↔pitcher_1 cabinet_26↔kettle_1 cabinet_26↔spoon_1 chair_23↔bottle_1 chair_23↔cushion_4 table_14↔basketball_1 table_14↔tennis_racquet_1 table_14↔glass_3 table_14↔stuffed_toy_1 table_14↔soap_dispenser_1 table_19↔glass_4 unknown_33↔bottle_2
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: cabinet_26
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: stool_24
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_22
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: chair_23
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: couch_17
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_14
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_18
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: unknown_33
searched_sg.room: living_room_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: candle_2
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: pitcher_1
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: pitcher
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: spoon_1
searched_sg.parent: cabinet_26
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: bottle_1
searched_sg.parent: chair_23
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: cushion_4
searched_sg.parent: chair_23
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: tennis_racquet_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: tennis_racquet
searched_sg.affordances: pickup release
searched_sg.id: glass_3
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: stuffed_toy_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: soap_dispenser_1
searched_sg.parent: table_14
searched_sg.room: living_room_1
searched_sg.type: soap_dispenser
searched_sg.affordances: pickup release
searched_sg.id: glass_4
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: bottle_2
searched_sg.parent: unknown_33
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.id: bathroom_1
searched_sg.id: bathroom_2
searched_sg.id: bedroom_1
searched_sg.id: bedroom_2
searched_sg.id: bedroom_3
searched_sg.id: closet_1
searched_sg.id: closet_2
searched_sg.id: entryway_1
searched_sg.id: kitchen_1
searched_sg.id: living_room_1
searched_sg.id: unknown_room