scene_graph.links: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_14 bathroom_1↔washer_dryer_6 bedroom_1↔bed_17 bedroom_1↔chest_of_drawers_21 bedroom_1↔floor_bedroom_1 bedroom_1↔table_22 bedroom_2↔bed_9 bedroom_2↔chest_of_drawers_18 bedroom_2↔chest_of_drawers_19 bedroom_2↔floor_bedroom_2 entryway_1↔floor_entryway_1 entryway_1↔stool_8 entryway_1↔wardrobe_23 kitchen_1↔cabinet_20 kitchen_1↔chair_10 kitchen_1↔chair_11 kitchen_1↔chair_12 kitchen_1↔counter_16 kitchen_1↔floor_kitchen_1 living_room_1↔couch_15 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_13 shelves_7↔book_1 shelves_7↔folder_1 chair_11↔clock_1 washer_dryer_6↔candle_1 chest_of_drawers_18↔bowl_1 bed_9↔bottle_1 counter_16↔credit_card_1 counter_16↔cellphone_1 table_13↔clock_2 bed_17↔bottle_2 chair_10↔stuffed_toy_1 table_13↔box_1 counter_16↔teapot_1 cabinet_20↔milk_frother_cup_1 table_22↔c-clamp_1 shelves_7↔box_2 shelves_7↔candle_2 shelves_7↔vase_1 table_13↔action_figure_1 shelves_7↔cup_1 shelves_7↔vase_2 shelves_7↔book_2 shelves_7↔clock_3 bed_9↔plate_1 table_13↔cushion_1 shelves_7↔bottle_3 bed_9↔cup_2 bed_17↔toy_animal_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: shower_14
scene_graph.room: bathroom_1
scene_graph.affordances: place
scene_graph.id: washer_dryer_6
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_21
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: table_22
scene_graph.room: bedroom_1
scene_graph.affordances: place
scene_graph.id: bed_9
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_18
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: chest_of_drawers_19
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: floor_bedroom_2
scene_graph.room: bedroom_2
scene_graph.affordances: place
scene_graph.id: floor_entryway_1
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: stool_8
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: wardrobe_23
scene_graph.room: entryway_1
scene_graph.affordances: place
scene_graph.id: cabinet_20
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_10
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_11
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: chair_12
scene_graph.room: kitchen_1
scene_graph.affordances: place
scene_graph.id: counter_16
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: couch_15
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_7
scene_graph.room: living_room_1
scene_graph.affordances: place
scene_graph.id: table_13
scene_graph.room: living_room_1
scene_graph.id: hssd
scene_graph.id: floor_A
scene_graph.affordances: pickup release
scene_graph.id: book_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: folder_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: folder
scene_graph.affordances: pickup release
scene_graph.id: clock_1
scene_graph.parent: chair_11
scene_graph.room: kitchen_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: washer_dryer_6
scene_graph.room: bathroom_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: bowl_1
scene_graph.parent: chest_of_drawers_18
scene_graph.room: bedroom_2
scene_graph.type: bowl
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: bed_9
scene_graph.room: bedroom_2
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: credit_card_1
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: credit_card
scene_graph.affordances: pickup release
scene_graph.id: cellphone_1
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: cellphone
scene_graph.affordances: pickup release
scene_graph.id: clock_2
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: bed_17
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: chair_10
scene_graph.room: kitchen_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: box_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: teapot_1
scene_graph.parent: counter_16
scene_graph.room: kitchen_1
scene_graph.type: teapot
scene_graph.affordances: pickup release
scene_graph.id: milk_frother_cup_1
scene_graph.parent: cabinet_20
scene_graph.room: kitchen_1
scene_graph.type: milk_frother_cup
scene_graph.affordances: pickup release
scene_graph.id: c-clamp_1
scene_graph.parent: table_22
scene_graph.room: bedroom_1
scene_graph.type: c-clamp
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: candle_2
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: action_figure_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: action_figure
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: vase_2
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: book_2
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: book
scene_graph.affordances: pickup release
scene_graph.id: clock_3
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: clock
scene_graph.affordances: pickup release
scene_graph.id: plate_1
scene_graph.parent: bed_9
scene_graph.room: bedroom_2
scene_graph.type: plate
scene_graph.affordances: pickup release
scene_graph.id: cushion_1
scene_graph.parent: table_13
scene_graph.room: living_room_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: bottle_3
scene_graph.parent: shelves_7
scene_graph.room: living_room_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: cup_2
scene_graph.parent: bed_9
scene_graph.room: bedroom_2
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: bed_17
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.id: bathroom_1
scene_graph.id: bedroom_1
scene_graph.id: bedroom_2
scene_graph.id: closet_1
scene_graph.id: entryway_1
scene_graph.id: kitchen_1
scene_graph.id: living_room_1
scene_graph.id: unknown_room
task: Take the vase, book, and clock from the shelves in the living room to the kitchen and clean the vase. Then, place the vase, book, and clock on the kitchen counter.
searched_sg.links: hssd↔floor_A floor_A↔bathroom_1 kitchen_1↔cabinet_20 kitchen_1↔chair_10 kitchen_1↔chair_11 kitchen_1↔chair_12 kitchen_1↔counter_16 kitchen_1↔floor_kitchen_1 living_room_1↔couch_15 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_13 bathroom_1↔agent shelves_7↔book_1 shelves_7↔folder_1 shelves_7↔box_2 shelves_7↔candle_2 shelves_7↔vase_1 shelves_7↔cup_1 shelves_7↔vase_2 shelves_7↔book_2 shelves_7↔clock_3 shelves_7↔bottle_3 table_13↔clock_2 table_13↔box_1 table_13↔action_figure_1 table_13↔cushion_1 cabinet_20↔milk_frother_cup_1 chair_10↔stuffed_toy_1 chair_11↔clock_1 counter_16↔credit_card_1 counter_16↔cellphone_1 counter_16↔teapot_1
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: couch_15
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_7
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: table_13
searched_sg.room: living_room_1
searched_sg.affordances: place
searched_sg.id: cabinet_20
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_10
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_11
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: chair_12
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: counter_16
searched_sg.room: kitchen_1
searched_sg.affordances: place
searched_sg.id: floor_kitchen_1
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: shelves_7
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: folder_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: folder
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: candle_2
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: vase_2
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: book_2
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: book
searched_sg.affordances: pickup release
searched_sg.id: clock_3
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: bottle_3
searched_sg.parent: shelves_7
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: clock_2
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: action_figure_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: action_figure
searched_sg.affordances: pickup release
searched_sg.id: cushion_1
searched_sg.parent: table_13
searched_sg.room: living_room_1
searched_sg.type: cushion
searched_sg.affordances: pickup release
searched_sg.id: milk_frother_cup_1
searched_sg.parent: cabinet_20
searched_sg.room: kitchen_1
searched_sg.type: milk_frother_cup
searched_sg.affordances: pickup release
searched_sg.id: stuffed_toy_1
searched_sg.parent: chair_10
searched_sg.room: kitchen_1
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: clock_1
searched_sg.parent: chair_11
searched_sg.room: kitchen_1
searched_sg.type: clock
searched_sg.affordances: pickup release
searched_sg.id: credit_card_1
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: credit_card
searched_sg.affordances: pickup release
searched_sg.id: cellphone_1
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: cellphone
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: counter_16
searched_sg.room: kitchen_1
searched_sg.type: teapot
searched_sg.id: bathroom_1
searched_sg.id: bedroom_1
searched_sg.id: bedroom_2
searched_sg.id: closet_1
searched_sg.id: entryway_1
searched_sg.id: kitchen_1
searched_sg.id: living_room_1
searched_sg.id: unknown_room