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↔toy_construction_set_1 table_9↔toy_airplane_1 table_9↔plate_1 bed_6↔plate_2 bed_6↔cushion_1 couch_10↔action_figure_1 chest_of_drawers_15↔toy_animal_1 table_12↔box_1 chest_of_drawers_16↔bowl_1 cabinet_13↔bowl_2 cabinet_13↔spoon_1 toilet_5↔can_1 chest_of_drawers_16↔book_1 table_9↔canister_1 bed_6↔box_2 cabinet_13↔basketball_1 cabinet_13↔baseballbat_1 table_9↔helmet_1 table_12↔spatula_1 chest_of_drawers_11↔book_2 chest_of_drawers_11↔cup_1 toilet_5↔spray_bottle_1 bed_6↔spray_bottle_2 cabinet_13↔milk_frother_cup_1 cabinet_13↔teapot_1 toilet_5↔box_3 bed_6↔cup_2 toilet_5↔stuffed_toy_1 table_9↔plate_3 bed_6↔cushion_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_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_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_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: plate_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: plate_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: plate
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: action_figure_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: action_figure
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: bowl_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: can
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: canister_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: canister
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: basketball_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: baseballbat_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: baseballbat
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: spatula_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: spatula
scene_graph.affordances: pickup release
scene_graph.id: book_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: spray_bottle_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: spray_bottle
scene_graph.affordances: pickup release
scene_graph.id: spray_bottle_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: spray_bottle
scene_graph.affordances: pickup release
scene_graph.id: milk_frother_cup_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: milk_frother_cup
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: plate_3
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: cushion_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_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 bowl and the spoon from the kitchen cabinet to the living room couch, then clean the kitchen cabinet.
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↔bowl_2 cabinet_13↔spoon_1 cabinet_13↔basketball_1 cabinet_13↔baseballbat_1 cabinet_13↔milk_frother_cup_1 cabinet_13↔teapot_1 couch_10↔action_figure_1 table_12↔box_1 table_12↔spatula_1 table_9↔toy_construction_set_1 table_9↔toy_airplane_1 table_9↔plate_1 table_9↔canister_1 table_9↔helmet_1 table_9↔plate_3
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: bowl_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: bowl
searched_sg.affordances: pickup release
searched_sg.id: spoon_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spoon
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: baseballbat_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: baseballbat
searched_sg.affordances: pickup release
searched_sg.id: milk_frother_cup_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: milk_frother_cup
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.affordances: pickup release
searched_sg.id: action_figure_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: action_figure
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: spatula_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: spatula
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: 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: plate_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: plate
searched_sg.affordances: pickup release
searched_sg.id: canister_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: canister
searched_sg.affordances: pickup release
searched_sg.id: helmet_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: helmet
searched_sg.affordances: pickup release
searched_sg.id: plate_3
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: plate
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