scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_18 bathroom_1↔toilet_11 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_26 bedroom_1↔chest_of_drawers_27 bedroom_1↔floor_bedroom_1 bedroom_1↔stand_40 bedroom_1↔table_38 closet_1↔floor_closet_1 entryway_1↔chest_of_drawers_15 entryway_1↔floor_entryway_1 entryway_1↔unknown_20 hallway_1↔cabinet_24 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_31 kitchen_1↔cabinet_33 kitchen_1↔cabinet_36 kitchen_1↔floor_kitchen_1 kitchen_2↔cabinet_14 kitchen_2↔cabinet_28 kitchen_2↔cabinet_29 kitchen_2↔cabinet_32 kitchen_2↔cabinet_34 kitchen_2↔cabinet_35 kitchen_2↔counter_25 kitchen_2↔floor_kitchen_2 kitchen_2↔fridge_30 kitchen_2↔microwave_37 kitchen_2↔stool_12 kitchen_2↔stool_13 living_room_1↔couch_23 living_room_1↔floor_living_room_1 living_room_1↔shelves_21 living_room_1↔stand_41 living_room_1↔table_19 living_room_1↔table_22 office_1↔cabinet_39 office_1↔chair_16 office_1↔floor_office_1 toilet_1↔floor_toilet_1 toilet_1↔toilet_10 chest_of_drawers_27↔toy_vehicle_1 chest_of_drawers_27↔toy_animal_1 chest_of_drawers_27↔toy_food_1 chest_of_drawers_27↔stuffed_toy_1 stand_41↔glass_1 cabinet_24↔vase_1 cabinet_24↔basketball_1 microwave_37↔soap_dispenser_1 table_19↔jug_1 table_19↔tray_1 cabinet_39↔helmet_1 table_22↔cup_1 cabinet_28↔bottle_1 stand_41↔bottle_2 chest_of_drawers_27↔cup_2 cabinet_33↔spoon_1 cabinet_33↔tomato_1 cabinet_33↔folder_1 cabinet_36↔toy_vehicle_2 stool_13↔box_1 cabinet_33↔cushion_1 stand_41↔egg_1 chest_of_drawers_15↔keychain_1 chest_of_drawers_15↔cellphone_1 chest_of_drawers_15↔credit_card_1 chest_of_drawers_15↔handbag_1 chair_16↔box_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: shower_18
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: toilet_11
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: bed_17
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_26
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_27
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: stand_40
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: table_38
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: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: unknown_20
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_24
scene_graph.room: hallway_1
scene_graph.affordances: place
scene_graph.id: floor_hallway_1
scene_graph.room: hallway_1
scene_graph.affordances: place
scene_graph.id: cabinet_31
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_33
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: cabinet_36
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: cabinet_14
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_28
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_29
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_32
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_34
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: cabinet_35
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: counter_25
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: floor_kitchen_2
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: fridge_30
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: microwave_37
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: stool_12
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: stool_13
scene_graph.room: kitchen_2
scene_graph.affordances: place
scene_graph.id: couch_23
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: shelves_21
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: stand_41
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_19
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_22
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: cabinet_39
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: chair_16
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_office_1
scene_graph.room: office_1
scene_graph.affordances: place
scene_graph.id: floor_toilet_1
scene_graph.room: toilet_1
scene_graph.affordances: place
scene_graph.id: toilet_10
scene_graph.room: toilet_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_food_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: toy_food
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: glass_1
scene_graph.parent: stand_41
scene_graph.room: living_room_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: cabinet_24
scene_graph.room: hallway_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: basketball_1
scene_graph.parent: cabinet_24
scene_graph.room: hallway_1
scene_graph.type: basketball
scene_graph.affordances: pickup release
scene_graph.id: soap_dispenser_1
scene_graph.parent: microwave_37
scene_graph.room: kitchen_2
scene_graph.type: soap_dispenser
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: tray_1
scene_graph.parent: table_19
scene_graph.room: living_room_1
scene_graph.type: tray
scene_graph.affordances: pickup release
scene_graph.id: helmet_1
scene_graph.parent: cabinet_39
scene_graph.room: office_1
scene_graph.type: helmet
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_22
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: cabinet_28
scene_graph.room: kitchen_2
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: stand_41
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: chest_of_drawers_27
scene_graph.room: bedroom_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: spoon_1
scene_graph.parent: cabinet_33
scene_graph.room: kitchen_1
scene_graph.type: spoon
scene_graph.affordances: pickup release
scene_graph.id: tomato_1
scene_graph.parent: cabinet_33
scene_graph.room: kitchen_1
scene_graph.type: tomato
scene_graph.affordances: pickup release
scene_graph.id: folder_1
scene_graph.parent: cabinet_33
scene_graph.room: kitchen_1
scene_graph.type: folder
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_2
scene_graph.parent: cabinet_36
scene_graph.room: kitchen_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: stool_13
scene_graph.room: kitchen_2
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: cabinet_33
scene_graph.room: kitchen_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: egg_1
scene_graph.parent: stand_41
scene_graph.room: living_room_1
scene_graph.type: egg
scene_graph.affordances: pickup release
scene_graph.id: keychain_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.type: keychain
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: credit_card_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.type: credit_card
scene_graph.affordances: pickup release
scene_graph.id: handbag_1
scene_graph.parent: chest_of_drawers_15
scene_graph.room: entryway_1
scene_graph.type: handbag
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: chair_16
scene_graph.room: office_1
scene_graph.type: box
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: closet_1
scene_graph.id: entryway_1
scene_graph.id: hallway_1
scene_graph.id: kitchen_1
scene_graph.id: kitchen_2
scene_graph.id: laundryroom_1
scene_graph.id: living_room_1
scene_graph.id: office_1
scene_graph.id: toilet_1
scene_graph.id: unknown_room
task: First, move the vase to the cabinet in the hallway next to the helmet, and move the basketball to the same cabinet next to the vase, placing them close by each other. Then, relocate both the vase and the basketball to the shelves in the living room, keeping them close to each other.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 hallway_1↔cabinet_24 hallway_1↔floor_hallway_1 living_room_1↔couch_23 living_room_1↔floor_living_room_1 living_room_1↔shelves_21 living_room_1↔stand_41 living_room_1↔table_19 living_room_1↔table_22 office_1↔cabinet_39 office_1↔chair_16 office_1↔floor_office_1 bathroom_1↔agent cabinet_24↔vase_1 cabinet_24↔basketball_1 stand_41↔glass_1 stand_41↔bottle_2 stand_41↔egg_1 table_19↔jug_1 table_19↔tray_1 table_22↔cup_1 cabinet_39↔helmet_1 chair_16↔box_2
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: cabinet_24
searched_sg.room: hallway_1
searched_sg.affordances: place
searched_sg.id: floor_hallway_1
searched_sg.room: hallway_1
searched_sg.affordances: place
searched_sg.id: couch_23
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: shelves_21
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: stand_41
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_19
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_22
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: cabinet_39
searched_sg.room: office_1
searched_sg.affordances: place
searched_sg.id: chair_16
searched_sg.room: office_1
searched_sg.affordances: place
searched_sg.id: floor_office_1
searched_sg.room: office_1
searched_sg.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: cabinet_24
searched_sg.room: hallway_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: basketball_1
searched_sg.parent: cabinet_24
searched_sg.room: hallway_1
searched_sg.type: basketball
searched_sg.affordances: pickup release
searched_sg.id: glass_1
searched_sg.parent: stand_41
searched_sg.room: living_room_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: bottle_2
searched_sg.parent: stand_41
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: egg_1
searched_sg.parent: stand_41
searched_sg.room: living_room_1
searched_sg.type: egg
searched_sg.affordances: pickup release
searched_sg.id: jug_1
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: jug
searched_sg.affordances: pickup release
searched_sg.id: tray_1
searched_sg.parent: table_19
searched_sg.room: living_room_1
searched_sg.type: tray
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: table_22
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: helmet_1
searched_sg.parent: cabinet_39
searched_sg.room: office_1
searched_sg.type: helmet
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: chair_16
searched_sg.room: office_1
searched_sg.type: box
searched_sg.id: bathroom_1
searched_sg.id: bedroom_1
searched_sg.id: closet_1
searched_sg.id: entryway_1
searched_sg.id: hallway_1
searched_sg.id: kitchen_1
searched_sg.id: kitchen_2
searched_sg.id: laundryroom_1
searched_sg.id: living_room_1
searched_sg.id: office_1
searched_sg.id: toilet_1
searched_sg.id: unknown_room