scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔couch_19 bathroom_1↔floor_bathroom_1 bathroom_1↔shelves_16 bathroom_1↔stand_20 bathroom_1↔table_12 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_7 bedroom_1↔bed_14 bedroom_1↔chest_of_drawers_25 bedroom_1↔floor_bedroom_1 bedroom_1↔table_13 dining_booth_1↔floor_dining_booth_1 dining_booth_1↔table_8 kitchen_1↔cabinet_22 kitchen_1↔cabinet_23 kitchen_1↔cabinet_24 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_28 kitchen_1↔unknown_11 kitchen_1↔unknown_21 laundryroom_1↔unknown_17 laundryroom_1↔washer_dryer_9 office_1↔chair_15 office_1↔floor_office_1 office_1↔shelves_18 office_1↔table_10 porch_1↔floor_porch_1 cabinet_22↔jug_1 cabinet_22↔cup_1 table_12↔bowl_1 toilet_7↔candle_1 table_8↔jug_2 table_8↔kettle_1 table_8↔teapot_1 shelves_18↔tomato_1 bed_14↔bottle_1 shelves_16↔glass_1 unknown_11↔picture_frame_1 couch_19↔clock_1 table_8↔doll_1 table_8↔helmet_1 shelves_16↔bottle_2 bed_14↔egg_1 unknown_17↔cup_2 couch_19↔box_1 table_12↔laptop_1 table_10↔laptop_cover_1 table_10↔electronic_cable_1 table_10↔folder_1 cabinet_27↔tomato_2 couch_19↔cup_3 table_12↔soap_dispenser_1 shelves_16↔toy_animal_1 shelves_16↔toy_fruits_1 shelves_16↔cup_4 stand_20↔bottle_3 stand_20↔bowl_2
scene_graph.id: agent
scene_graph.location: bathroom_1
scene_graph.affordances: place
scene_graph.id: couch_19
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: floor_bathroom_1
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: shelves_16
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: stand_20
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: table_12
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: floor_bathroom_2
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: toilet_7
scene_graph.room: bathroom_2
scene_graph.affordances: place
scene_graph.id: bed_14
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_25
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_13
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: floor_dining_booth_1
scene_graph.room: dining_booth_1
scene_graph.affordances: place
scene_graph.id: table_8
scene_graph.room: dining_booth_1
scene_graph.affordances: place
scene_graph.id: cabinet_22
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_23
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_24
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_26
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_27
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_28
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_11
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_21
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: unknown_17
scene_graph.room: laundryroom_1
scene_graph.affordances: place
scene_graph.id: washer_dryer_9
scene_graph.room: laundryroom_1
scene_graph.affordances: place
scene_graph.id: chair_15
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: shelves_18
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: table_10
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_porch_1
scene_graph.room: porch_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: cabinet_22
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: toilet_7
scene_graph.room: bathroom_2
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: jug_2
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: tomato_1
scene_graph.parent: shelves_18
scene_graph.room: office_1
scene_graph.type: tomato
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: bed_14
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: unknown_11
scene_graph.room: kitchen_1
scene_graph.type: picture_frame
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: couch_19
scene_graph.room: bathroom_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: table_8
scene_graph.room: dining_booth_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: egg_1
scene_graph.parent: bed_14
scene_graph.room: bedroom_1
scene_graph.type: egg
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: unknown_17
scene_graph.room: laundryroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: couch_19
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: laptop_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: laptop
scene_graph.affordances: pickup release
scene_graph.id: laptop_cover_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: laptop_cover
scene_graph.affordances: pickup release
scene_graph.id: electronic_cable_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: electronic_cable
scene_graph.affordances: pickup release
scene_graph.id: folder_1
scene_graph.parent: table_10
scene_graph.room: office_1
scene_graph.type: folder
scene_graph.affordances: pickup release
scene_graph.id: tomato_2
scene_graph.parent: cabinet_27
scene_graph.room: kitchen_1
scene_graph.type: tomato
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: couch_19
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: table_12
scene_graph.room: bathroom_1
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_fruits_1
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: toy_fruits
scene_graph.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: shelves_16
scene_graph.room: bathroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: bottle_3
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: bowl_2
scene_graph.parent: stand_20
scene_graph.room: bathroom_1
scene_graph.type: bowl
scene_graph.id: bathroom_1
scene_graph.id: bathroom_2
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: dining_booth_1
scene_graph.id: kitchen_1
scene_graph.id: laundryroom_1
scene_graph.id: office_1
scene_graph.id: porch_1
scene_graph.id: unknown_room
task: Move the jug, kettle, and teapot from the dining table to the kitchen, fill the kettle and teapot with water, and turn on the kettle. Then, clean the dining table.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 dining_booth_1↔floor_dining_booth_1 dining_booth_1↔table_8 kitchen_1↔cabinet_22 kitchen_1↔cabinet_23 kitchen_1↔cabinet_24 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_28 kitchen_1↔unknown_11 kitchen_1↔unknown_21 bathroom_1↔agent table_8↔jug_2 table_8↔kettle_1 table_8↔teapot_1 table_8↔doll_1 table_8↔helmet_1 cabinet_22↔jug_1 cabinet_22↔cup_1 cabinet_27↔tomato_2 unknown_11↔picture_frame_1
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: floor_dining_booth_1
searched_sg.room: dining_booth_1
searched_sg.affordances: place
searched_sg.id: table_8
searched_sg.room: dining_booth_1
searched_sg.affordances: place
searched_sg.id: cabinet_22
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_23
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_24
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_26
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: cabinet_27
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_28
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: unknown_11
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: unknown_21
searched_sg.room: kitchen_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: jug_2
searched_sg.parent: table_8
searched_sg.room: dining_booth_1
searched_sg.type: jug
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_8
searched_sg.room: dining_booth_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_8
searched_sg.room: dining_booth_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: doll_1
searched_sg.parent: table_8
searched_sg.room: dining_booth_1
searched_sg.type: doll
searched_sg.affordances: pickup release
searched_sg.id: helmet_1
searched_sg.parent: table_8
searched_sg.room: dining_booth_1
searched_sg.type: helmet
searched_sg.affordances: pickup release
searched_sg.id: jug_1
searched_sg.parent: cabinet_22
searched_sg.room: kitchen_1
searched_sg.type: jug
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: cabinet_22
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: tomato_2
searched_sg.parent: cabinet_27
searched_sg.room: kitchen_1
searched_sg.type: tomato
searched_sg.affordances: pickup release
searched_sg.id: picture_frame_1
searched_sg.parent: unknown_11
searched_sg.room: kitchen_1
searched_sg.type: picture_frame
searched_sg.id: bathroom_1
searched_sg.id: bathroom_2
searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: dining_booth_1
searched_sg.id: kitchen_1
searched_sg.id: laundryroom_1
searched_sg.id: office_1
searched_sg.id: porch_1
searched_sg.id: unknown_room