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↔teapot_1 table_12↔bowl_1 table_9↔spoon_1 cabinet_13↔book_1 chest_of_drawers_11↔glass_1 couch_10↔basket_1 couch_10↔stuffed_toy_1 toilet_5↔box_1 couch_10↔cup_1 bed_6↔ramekin_1 bed_6↔tray_1 bed_6↔cushion_1 table_9↔cup_2 toilet_5↔bottle_1 cabinet_13↔vase_1 couch_10↔bottle_2 chest_of_drawers_15↔toy_airplane_1 chest_of_drawers_16↔box_2 bed_6↔cup_3 couch_10↔egg_1 couch_10↔lamp_1 couch_10↔plate_1 bed_6↔vase_2 bed_6↔baseballbat_1 couch_10↔box_3 toilet_5↔box_4 table_9↔toy_fire_truck_1
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: teapot_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: basket_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: basket
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: ramekin_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: ramekin
scene_graph.affordances: pickup release
scene_graph.id: tray_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: tray
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: 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: bottle_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: toy_airplane_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: toy_airplane
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: egg_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: egg
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: plate_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: baseballbat_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: baseballbat
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: toy_fire_truck_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: toy_fire_truck
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: First, move the ramekin to the bed in the bedroom next to the pillow, and move the tray to the same bed next to the ramekin, placing them close by each other. Then, relocate both the ramekin and the tray to the cabinet in the kitchen, keeping them close to each other.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 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 kitchen_1↔cabinet_13 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_14 kitchen_1↔table_7 bathroom_1↔agent bed_6↔ramekin_1 bed_6↔tray_1 bed_6↔cushion_1 bed_6↔cup_3 bed_6↔vase_2 bed_6↔baseballbat_1 chest_of_drawers_11↔glass_1 chest_of_drawers_15↔toy_airplane_1 chest_of_drawers_16↔box_2 cabinet_13↔book_1 cabinet_13↔vase_1
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: bed_6
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_15
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: chest_of_drawers_16
searched_sg.room: bedroom_1
searched_sg.affordances: place
searched_sg.id: floor_bedroom_1
searched_sg.room: bedroom_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: ramekin_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: ramekin
searched_sg.affordances: pickup release
searched_sg.id: tray_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: tray
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: baseballbat_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: baseballbat
searched_sg.affordances: pickup release
searched_sg.id: glass_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: toy_airplane_1
searched_sg.parent: chest_of_drawers_15
searched_sg.room: bedroom_1
searched_sg.type: toy_airplane
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: chest_of_drawers_16
searched_sg.room: bedroom_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: book_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: vase
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