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↔fork_1 table_9↔fork_2 couch_10↔knife_1 table_12↔cup_1 table_9↔shoe_1 chest_of_drawers_16↔bottle_1 toilet_5↔casserole_1 chest_of_drawers_11↔plate_1 couch_10↔cushion_1 cabinet_13↔screwdriver_1 cabinet_13↔spatula_1 table_12↔stuffed_toy_1 chest_of_drawers_15↔plate_2 table_9↔cup_2 couch_10↔candle_1 table_9↔stuffed_toy_2 table_9↔plate_3 table_9↔plate_4 table_12↔toy_airplane_1 table_12↔can_1 bed_6↔cushion_2 table_7↔apple_1 table_7↔tomato_1 bed_6↔box_1 chair_8↔bottle_2 cabinet_13↔action_figure_1 couch_10↔glass_1 table_9↔action_figure_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: fork_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: fork
scene_graph.affordances: pickup release
scene_graph.id: fork_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: fork
scene_graph.affordances: pickup release
scene_graph.id: knife_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: knife
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: shoe_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: casserole_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: casserole
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: cushion_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: screwdriver_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: screwdriver
scene_graph.affordances: pickup release
scene_graph.id: spatula_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: spatula
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: plate_2
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: plate
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: candle_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_2
scene_graph.parent: table_9
scene_graph.room: living_room_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: plate_4
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: toy_airplane
scene_graph.affordances: pickup release
scene_graph.id: can_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: can
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: apple_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: apple
scene_graph.affordances: pickup release
scene_graph.id: tomato_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: tomato
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: action_figure_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: action_figure
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: action_figure_2
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: action_figure
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 cup from the living room table to the kitchen and 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↔bottle_2 couch_10↔knife_1 couch_10↔cushion_1 couch_10↔candle_1 couch_10↔glass_1 table_12↔cup_1 table_12↔stuffed_toy_1 table_12↔toy_airplane_1 table_12↔can_1 table_9↔fork_1 table_9↔fork_2 table_9↔shoe_1 table_9↔cup_2 table_9↔stuffed_toy_2 table_9↔plate_3 table_9↔plate_4 table_9↔action_figure_2 cabinet_13↔screwdriver_1 cabinet_13↔spatula_1 cabinet_13↔action_figure_1 table_7↔apple_1 table_7↔tomato_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: bottle_2
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: knife_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: knife
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: candle_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: glass_1
searched_sg.parent: couch_10
searched_sg.room: living_room_1
searched_sg.type: glass
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: stuffed_toy_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: toy_airplane_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: toy_airplane
searched_sg.affordances: pickup release
searched_sg.id: can_1
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: can
searched_sg.affordances: pickup release
searched_sg.id: fork_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: fork
searched_sg.affordances: pickup release
searched_sg.id: fork_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: fork
searched_sg.affordances: pickup release
searched_sg.id: shoe_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: shoe
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: stuffed_toy_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: stuffed_toy
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.affordances: pickup release
searched_sg.id: plate_4
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: plate
searched_sg.affordances: pickup release
searched_sg.id: action_figure_2
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: action_figure
searched_sg.affordances: pickup release
searched_sg.id: screwdriver_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: screwdriver
searched_sg.affordances: pickup release
searched_sg.id: spatula_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: spatula
searched_sg.affordances: pickup release
searched_sg.id: action_figure_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: action_figure
searched_sg.affordances: pickup release
searched_sg.id: apple_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: apple
searched_sg.affordances: pickup release
searched_sg.id: tomato_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: tomato
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