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_12↔cup_1 cabinet_13↔box_1 table_7↔cushion_1 table_7↔candle_1 cabinet_13↔box_2 chair_8↔book_1 chair_8↔folder_1 bed_6↔picture_frame_1 bed_6↔cushion_2 table_9↔kettle_1 table_9↔cup_2 chair_8↔multiport_hub_1 couch_10↔vase_1 couch_10↔candle_holder_1 couch_10↔lamp_1 couch_10↔cup_3 chest_of_drawers_15↔bread_1 cabinet_13↔cup_4 chair_8↔dumbbell_1 table_7↔hammer_1 table_7↔c-clamp_1 chest_of_drawers_11↔plate_1 bed_6↔book_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: cup_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cushion
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: box_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: folder_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: folder
scene_graph.affordances: pickup release
scene_graph.id: picture_frame_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: picture_frame
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.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: multiport_hub_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: multiport_hub
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: candle_holder_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: candle_holder
scene_graph.affordances: pickup release
scene_graph.id: lamp_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: lamp
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: bread_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: bread
scene_graph.affordances: pickup release
scene_graph.id: cup_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
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: hammer_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: hammer
scene_graph.affordances: pickup release
scene_graph.id: c-clamp_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: c-clamp
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: book_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: book
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 kettle and cup from the living room table to the kitchen and fill the kettle with water. Then turn on the kettle. Finally clean the living room 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 chair_8↔book_1 chair_8↔folder_1 chair_8↔multiport_hub_1 chair_8↔dumbbell_1 couch_10↔vase_1 couch_10↔candle_holder_1 couch_10↔lamp_1 couch_10↔cup_3 table_12↔cup_1 table_9↔kettle_1 table_9↔cup_2 cabinet_13↔box_1 cabinet_13↔box_2 cabinet_13↔cup_4 table_7↔cushion_1 table_7↔candle_1 table_7↔hammer_1 table_7↔c-clamp_1
searched_sg.id: agent
searched_sg.location: bathroom_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.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.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: folder_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: folder
searched_sg.affordances: pickup release
searched_sg.id: multiport_hub_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: multiport_hub
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: vase_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: candle_holder_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: candle_holder
searched_sg.affordances: pickup release
searched_sg.id: lamp_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: lamp
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: cup_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: cup_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cushion
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: hammer_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: hammer
searched_sg.affordances: pickup release
searched_sg.id: c-clamp_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: c-clamp
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