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 chest_of_drawers_11↔toy_pineapple_1 chest_of_drawers_11↔toy_food_1 chest_of_drawers_11↔toy_cactus_1 chest_of_drawers_15↔cup_1 bed_6↔shoe_1 chest_of_drawers_11↔bottle_1 toilet_5↔carrying_case_1 table_9↔toy_animal_1 table_9↔book_1 table_9↔action_figure_1 table_9↔doll_1 bed_6↔clock_1 bed_6↔apple_1 toilet_5↔glass_1 chest_of_drawers_11↔glass_2 bed_6↔hand_towel_1 table_7↔milk_frother_cup_1 table_7↔kettle_1 couch_10↔soap_dispenser_1 bed_6↔cup_2 toilet_5↔glass_3 cabinet_13↔shoe_2 toilet_5↔bottle_2 chair_8↔shoe_3 chair_8↔hat_1 cabinet_13↔cup_3 table_12↔credit_card_1 chest_of_drawers_16↔cellphone_1 chest_of_drawers_16↔cellphone_2 table_9↔plant_container_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: toy_pineapple_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_pineapple
scene_graph.affordances: pickup release
scene_graph.id: toy_food_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_food
scene_graph.affordances: pickup release
scene_graph.id: toy_cactus_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_cactus
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: shoe_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: carrying_case_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: carrying_case
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: action_figure_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: action_figure
scene_graph.affordances: pickup release
scene_graph.id: doll_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: doll
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: apple_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: apple
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: hand_towel_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: hand_towel
scene_graph.affordances: pickup release
scene_graph.id: milk_frother_cup_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: milk_frother_cup
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: kettle
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: couch_10
scene_graph.room: living_room_1
scene_graph.type: soap_dispenser
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: glass_3
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: shoe_2
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: shoe_3
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: shoe
scene_graph.affordances: pickup release
scene_graph.id: hat_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: hat
scene_graph.affordances: pickup release
scene_graph.id: cup_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: credit_card_1
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: credit_card
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: cellphone_2
scene_graph.parent: chest_of_drawers_16
scene_graph.room: bedroom_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: plant_container_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: plant_container
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, place the milk frother cup next to the kettle on the table in the kitchen. Then, move both to the cabinet in a kitchen.
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 bathroom_1↔agent cabinet_13↔shoe_2 cabinet_13↔cup_3 table_7↔milk_frother_cup_1 table_7↔kettle_1
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.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: shoe_2
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: shoe
searched_sg.affordances: pickup release
searched_sg.id: cup_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: milk_frother_cup_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: milk_frother_cup
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: kettle
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