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 cabinet_13↔fork_1 table_7↔knife_1 bed_6↔shoe_1 chair_8↔board_game_1 table_9↔bottle_1 bed_6↔box_1 bed_6↔cushion_1 table_7↔jug_1 table_7↔cup_1 toilet_5↔stuffed_toy_1 bed_6↔toy_food_1 bed_6↔box_2 table_9↔kettle_1 table_9↔teapot_1 table_9↔cup_2 bed_6↔glass_1 bed_6↔glass_2 cabinet_13↔glass_3 bed_6↔bottle_2 chest_of_drawers_11↔vase_1 bed_6↔candle_1 bed_6↔bottle_3 chest_of_drawers_11↔toy_animal_1 chest_of_drawers_11↔toy_animal_2 chest_of_drawers_11↔toy_animal_3 chest_of_drawers_11↔toy_vehicle_1 chest_of_drawers_11↔toy_vehicle_2 chest_of_drawers_11↔toy_vehicle_3 chest_of_drawers_11↔toy_fire_truck_1 chest_of_drawers_11↔toy_fire_truck_2 chest_of_drawers_11↔toy_fire_truck_3 table_12↔box_3 cabinet_13↔box_4 cabinet_13↔bottle_4
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: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: fork
scene_graph.affordances: pickup release
scene_graph.id: knife_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: knife
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: board_game_1
scene_graph.parent: chair_8
scene_graph.room: living_room_1
scene_graph.type: board_game
scene_graph.affordances: pickup release
scene_graph.id: bottle_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: bottle
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: cushion_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: cushion
scene_graph.affordances: pickup release
scene_graph.id: jug_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: jug
scene_graph.affordances: pickup release
scene_graph.id: cup_1
scene_graph.parent: table_7
scene_graph.room: kitchen_1
scene_graph.type: cup
scene_graph.affordances: pickup release
scene_graph.id: stuffed_toy_1
scene_graph.parent: toilet_5
scene_graph.room: bathroom_1
scene_graph.type: stuffed_toy
scene_graph.affordances: pickup release
scene_graph.id: toy_food_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: toy_food
scene_graph.affordances: pickup release
scene_graph.id: box_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: kettle_1
scene_graph.parent: table_9
scene_graph.room: living_room_1
scene_graph.type: kettle
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: 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: glass_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: glass_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: glass_3
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: glass
scene_graph.affordances: pickup release
scene_graph.id: bottle_2
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: vase_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: vase
scene_graph.affordances: pickup release
scene_graph.id: candle_1
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: candle
scene_graph.affordances: pickup release
scene_graph.id: bottle_3
scene_graph.parent: bed_6
scene_graph.room: bedroom_1
scene_graph.type: bottle
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_animal_3
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_animal
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: toy_vehicle_3
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_vehicle
scene_graph.affordances: pickup release
scene_graph.id: toy_fire_truck_1
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_fire_truck
scene_graph.affordances: pickup release
scene_graph.id: toy_fire_truck_2
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_fire_truck
scene_graph.affordances: pickup release
scene_graph.id: toy_fire_truck_3
scene_graph.parent: chest_of_drawers_11
scene_graph.room: bedroom_1
scene_graph.type: toy_fire_truck
scene_graph.affordances: pickup release
scene_graph.id: box_3
scene_graph.parent: table_12
scene_graph.room: living_room_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: box_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: box
scene_graph.affordances: pickup release
scene_graph.id: bottle_4
scene_graph.parent: cabinet_13
scene_graph.room: kitchen_1
scene_graph.type: bottle
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 kettle, teapot, and cup from the dining table to the kitchen and fill the kettle with water. Turn on the kettle, then clean the dining table.
searched_sg.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 cabinet_13↔fork_1 table_7↔knife_1 bed_6↔shoe_1 chair_8↔board_game_1 table_9↔bottle_1 bed_6↔box_1 bed_6↔cushion_1 table_7↔jug_1 table_7↔cup_1 toilet_5↔stuffed_toy_1 bed_6↔toy_food_1 bed_6↔box_2 table_9↔kettle_1 table_9↔teapot_1 table_9↔cup_2 bed_6↔glass_1 bed_6↔glass_2 cabinet_13↔glass_3 bed_6↔bottle_2 chest_of_drawers_11↔vase_1 bed_6↔candle_1 bed_6↔bottle_3 chest_of_drawers_11↔toy_animal_1 chest_of_drawers_11↔toy_animal_2 chest_of_drawers_11↔toy_animal_3 chest_of_drawers_11↔toy_vehicle_1 chest_of_drawers_11↔toy_vehicle_2 chest_of_drawers_11↔toy_vehicle_3 chest_of_drawers_11↔toy_fire_truck_1 chest_of_drawers_11↔toy_fire_truck_2 chest_of_drawers_11↔toy_fire_truck_3 table_12↔box_3 cabinet_13↔box_4 cabinet_13↔bottle_4
searched_sg.id: agent
searched_sg.location: bathroom_1
searched_sg.affordances: place
searched_sg.id: floor_bathroom_1
searched_sg.room: bathroom_1
searched_sg.affordances: place
searched_sg.id: toilet_5
searched_sg.room: 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: floor_closet_1
searched_sg.room: closet_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.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.id: hssd
searched_sg.id: floor_A
searched_sg.affordances: pickup release
searched_sg.id: fork_1
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: fork
searched_sg.affordances: pickup release
searched_sg.id: knife_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: knife
searched_sg.affordances: pickup release
searched_sg.id: shoe_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: shoe
searched_sg.affordances: pickup release
searched_sg.id: board_game_1
searched_sg.parent: chair_8
searched_sg.room: living_room_1
searched_sg.type: board_game
searched_sg.affordances: pickup release
searched_sg.id: bottle_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: box_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: box
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: jug_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: jug
searched_sg.affordances: pickup release
searched_sg.id: cup_1
searched_sg.parent: table_7
searched_sg.room: kitchen_1
searched_sg.type: cup
searched_sg.affordances: pickup release
searched_sg.id: stuffed_toy_1
searched_sg.parent: toilet_5
searched_sg.room: bathroom_1
searched_sg.type: stuffed_toy
searched_sg.affordances: pickup release
searched_sg.id: toy_food_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: toy_food
searched_sg.affordances: pickup release
searched_sg.id: box_2
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: kettle_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: kettle
searched_sg.affordances: pickup release
searched_sg.id: teapot_1
searched_sg.parent: table_9
searched_sg.room: living_room_1
searched_sg.type: teapot
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: glass_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: glass_2
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: glass_3
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: glass
searched_sg.affordances: pickup release
searched_sg.id: bottle_2
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: vase_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: vase
searched_sg.affordances: pickup release
searched_sg.id: candle_1
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: candle
searched_sg.affordances: pickup release
searched_sg.id: bottle_3
searched_sg.parent: bed_6
searched_sg.room: bedroom_1
searched_sg.type: bottle
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_2
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: toy_animal_3
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_animal
searched_sg.affordances: pickup release
searched_sg.id: toy_vehicle_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_vehicle
searched_sg.affordances: pickup release
searched_sg.id: toy_vehicle_2
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_vehicle
searched_sg.affordances: pickup release
searched_sg.id: toy_vehicle_3
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_vehicle
searched_sg.affordances: pickup release
searched_sg.id: toy_fire_truck_1
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_fire_truck
searched_sg.affordances: pickup release
searched_sg.id: toy_fire_truck_2
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_fire_truck
searched_sg.affordances: pickup release
searched_sg.id: toy_fire_truck_3
searched_sg.parent: chest_of_drawers_11
searched_sg.room: bedroom_1
searched_sg.type: toy_fire_truck
searched_sg.affordances: pickup release
searched_sg.id: box_3
searched_sg.parent: table_12
searched_sg.room: living_room_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: box_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: box
searched_sg.affordances: pickup release
searched_sg.id: bottle_4
searched_sg.parent: cabinet_13
searched_sg.room: kitchen_1
searched_sg.type: bottle
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