scene_graph: hssd↔floor_A floor_A↔bedroom_1 bedroom_1↔bed_14 bedroom_1↔chair_6 bedroom_1↔chest_of_drawers_19 bedroom_1↔chest_of_drawers_20 bedroom_1↔chest_of_drawers_22 bedroom_1↔floor_bedroom_1 bedroom_1↔table_23 dining_booth_1↔floor_dining_booth_1 dining_booth_1↔table_13 dining_booth_1↔washer_dryer_8 kitchen_1↔cabinet_17 kitchen_1↔cabinet_21 kitchen_1↔cabinet_24 kitchen_1↔cabinet_25 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔cabinet_28 kitchen_1↔cabinet_29 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_30 kitchen_1↔stool_10 kitchen_1↔stool_11 kitchen_1↔stool_12 kitchen_1↔unknown_18 living_room_1↔couch_16 living_room_1↔counter_31 living_room_1↔counter_33 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_9 porch_1↔counter_32 porch_1↔floor_porch_1 toilet_1↔floor_toilet_1 toilet_1↔toilet_15 cabinet_17↔can_1 cabinet_17↔can_opener_1 table_13↔casserole_1 shelves_7↔vase_1 shelves_7↔basketball_1 shelves_7↔stuffed_toy_1 table_23↔tomato_1 shelves_7↔book_1 shelves_7↔laptop_stand_1 table_13↔laptop_1 cabinet_25↔potato_1 unknown_18↔box_1 cabinet_17↔spray_bottle_1 table_13↔hand_towel_1 cabinet_21↔apple_1 cabinet_21↔spoon_1 shelves_7↔soap_dish_1 chest_of_drawers_22↔teapot_1 counter_32↔pan_1 couch_16↔bowl_1 table_23↔vase_2 table_23↔candle_1 table_23↔book_2 cabinet_24↔bundt_pan_1
scene_graph: agent
scene_graph: bedroom_1
scene_graph: place
scene_graph: bed_14
scene_graph: bedroom_1
scene_graph: place
scene_graph: chair_6
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_19
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_20
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_22
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_bedroom_1
scene_graph: bedroom_1
scene_graph: place
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_dining_booth_1
scene_graph: dining_booth_1
scene_graph: place
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: place
scene_graph: washer_dryer_8
scene_graph: dining_booth_1
scene_graph: place
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_21
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_24
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_26
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_27
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_28
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_29
scene_graph: kitchen_1
scene_graph: place
scene_graph: floor_kitchen_1
scene_graph: kitchen_1
scene_graph: place
scene_graph: fridge_30
scene_graph: kitchen_1
scene_graph: place
scene_graph: stool_10
scene_graph: kitchen_1
scene_graph: place
scene_graph: stool_11
scene_graph: kitchen_1
scene_graph: place
scene_graph: stool_12
scene_graph: kitchen_1
scene_graph: place
scene_graph: unknown_18
scene_graph: kitchen_1
scene_graph: place
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: place
scene_graph: counter_31
scene_graph: living_room_1
scene_graph: place
scene_graph: counter_33
scene_graph: living_room_1
scene_graph: place
scene_graph: floor_living_room_1
scene_graph: living_room_1
scene_graph: place
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: place
scene_graph: table_9
scene_graph: living_room_1
scene_graph: place
scene_graph: counter_32
scene_graph: porch_1
scene_graph: place
scene_graph: floor_porch_1
scene_graph: porch_1
scene_graph: place
scene_graph: floor_toilet_1
scene_graph: toilet_1
scene_graph: place
scene_graph: toilet_15
scene_graph: toilet_1
scene_graph: hssd
scene_graph: floor_A
scene_graph: pickup release
scene_graph: can_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: can
scene_graph: pickup release
scene_graph: can_opener_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: can_opener
scene_graph: pickup release
scene_graph: casserole_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: casserole
scene_graph: pickup release
scene_graph: vase_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: vase
scene_graph: pickup release
scene_graph: basketball_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: basketball
scene_graph: pickup release
scene_graph: stuffed_toy_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: stuffed_toy
scene_graph: pickup release
scene_graph: tomato_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: tomato
scene_graph: pickup release
scene_graph: book_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: book
scene_graph: pickup release
scene_graph: laptop_stand_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: laptop_stand
scene_graph: pickup release
scene_graph: laptop_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: laptop
scene_graph: pickup release
scene_graph: potato_1
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: potato
scene_graph: pickup release
scene_graph: box_1
scene_graph: unknown_18
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: spray_bottle_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: spray_bottle
scene_graph: pickup release
scene_graph: hand_towel_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: hand_towel
scene_graph: pickup release
scene_graph: apple_1
scene_graph: cabinet_21
scene_graph: kitchen_1
scene_graph: apple
scene_graph: pickup release
scene_graph: spoon_1
scene_graph: cabinet_21
scene_graph: kitchen_1
scene_graph: spoon
scene_graph: pickup release
scene_graph: soap_dish_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: soap_dish
scene_graph: pickup release
scene_graph: teapot_1
scene_graph: chest_of_drawers_22
scene_graph: bedroom_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: pan_1
scene_graph: counter_32
scene_graph: porch_1
scene_graph: pan
scene_graph: pickup release
scene_graph: bowl_1
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: bowl
scene_graph: pickup release
scene_graph: vase_2
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: vase
scene_graph: pickup release
scene_graph: candle_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: candle
scene_graph: pickup release
scene_graph: book_2
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: book
scene_graph: pickup release
scene_graph: bundt_pan_1
scene_graph: cabinet_24
scene_graph: kitchen_1
scene_graph: bundt_pan
scene_graph: bedroom_1
scene_graph: dining_booth_1
scene_graph: kitchen_1
scene_graph: living_room_1
scene_graph: porch_1
scene_graph: toilet_1
scene_graph: unknown_room
task: Help me prepare a snack. Bring the apple and spoon to a living room table.
searched_sg: hssd↔floor_A floor_A↔bedroom_1 kitchen_1↔cabinet_17 kitchen_1↔cabinet_21 kitchen_1↔cabinet_24 kitchen_1↔cabinet_25 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔cabinet_28 kitchen_1↔cabinet_29 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_30 kitchen_1↔stool_10 kitchen_1↔stool_11 kitchen_1↔stool_12 kitchen_1↔unknown_18 living_room_1↔couch_16 living_room_1↔counter_31 living_room_1↔counter_33 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_9 bedroom_1↔agent cabinet_17↔can_1 cabinet_17↔can_opener_1 cabinet_17↔spray_bottle_1 cabinet_21↔apple_1 cabinet_21↔spoon_1 cabinet_24↔bundt_pan_1 cabinet_25↔potato_1 unknown_18↔box_1 couch_16↔bowl_1 shelves_7↔vase_1 shelves_7↔basketball_1 shelves_7↔stuffed_toy_1 shelves_7↔book_1 shelves_7↔laptop_stand_1 shelves_7↔soap_dish_1
searched_sg: agent
searched_sg: bedroom_1
searched_sg: place
searched_sg: cabinet_17
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_21
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_24
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_25
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_26
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_27
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_28
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_29
searched_sg: kitchen_1
searched_sg: place
searched_sg: floor_kitchen_1
searched_sg: kitchen_1
searched_sg: place
searched_sg: fridge_30
searched_sg: kitchen_1
searched_sg: place
searched_sg: stool_10
searched_sg: kitchen_1
searched_sg: place
searched_sg: stool_11
searched_sg: kitchen_1
searched_sg: place
searched_sg: stool_12
searched_sg: kitchen_1
searched_sg: place
searched_sg: unknown_18
searched_sg: kitchen_1
searched_sg: place
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: place
searched_sg: counter_31
searched_sg: living_room_1
searched_sg: place
searched_sg: counter_33
searched_sg: living_room_1
searched_sg: place
searched_sg: floor_living_room_1
searched_sg: living_room_1
searched_sg: place
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: place
searched_sg: table_9
searched_sg: living_room_1
searched_sg: hssd
searched_sg: floor_A
searched_sg: pickup release
searched_sg: can_1
searched_sg: cabinet_17
searched_sg: kitchen_1
searched_sg: can
searched_sg: pickup release
searched_sg: can_opener_1
searched_sg: cabinet_17
searched_sg: kitchen_1
searched_sg: can_opener
searched_sg: pickup release
searched_sg: spray_bottle_1
searched_sg: cabinet_17
searched_sg: kitchen_1
searched_sg: spray_bottle
searched_sg: pickup release
searched_sg: apple_1
searched_sg: cabinet_21
searched_sg: kitchen_1
searched_sg: apple
searched_sg: pickup release
searched_sg: spoon_1
searched_sg: cabinet_21
searched_sg: kitchen_1
searched_sg: spoon
searched_sg: pickup release
searched_sg: bundt_pan_1
searched_sg: cabinet_24
searched_sg: kitchen_1
searched_sg: bundt_pan
searched_sg: pickup release
searched_sg: potato_1
searched_sg: cabinet_25
searched_sg: kitchen_1
searched_sg: potato
searched_sg: pickup release
searched_sg: box_1
searched_sg: unknown_18
searched_sg: kitchen_1
searched_sg: box
searched_sg: pickup release
searched_sg: bowl_1
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: bowl
searched_sg: pickup release
searched_sg: vase_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: vase
searched_sg: pickup release
searched_sg: basketball_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: basketball
searched_sg: pickup release
searched_sg: stuffed_toy_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: stuffed_toy
searched_sg: pickup release
searched_sg: book_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: book
searched_sg: pickup release
searched_sg: laptop_stand_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: laptop_stand
searched_sg: pickup release
searched_sg: soap_dish_1
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: soap_dish
searched_sg: bedroom_1
searched_sg: dining_booth_1
searched_sg: kitchen_1
searched_sg: living_room_1
searched_sg: porch_1
searched_sg: toilet_1
searched_sg: unknown_room