scene_graph: hssd↔floor_A floor_A↔balcony_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_24 bathroom_1↔toilet_21 bedroom_1↔bed_20 bedroom_1↔chair_10 bedroom_1↔chair_13 bedroom_1↔chair_25 bedroom_1↔chest_of_drawers_26 bedroom_1↔floor_bedroom_1 bedroom_1↔table_30 bedroom_1↔wardrobe_31 closet_1↔floor_closet_1 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_28 kitchen_1↔counter_23 kitchen_1↔dishwasher_29 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_27 kitchen_1↔stool_16 kitchen_1↔stool_17 kitchen_1↔stool_18 kitchen_1↔stool_19 laundryroom_1↔floor_laundryroom_1 laundryroom_1↔washer_dryer_14 living_room_1↔bench_12 living_room_1↔chair_8 living_room_1↔chair_9 living_room_1↔couch_22 living_room_1↔floor_living_room_1 living_room_1↔table_11 living_room_1↔table_15 living_room_1↔table_7 chest_of_drawers_26↔doll_1 chest_of_drawers_26↔stuffed_toy_1 bench_12↔plant_container_1 counter_23↔cushion_1 stool_19↔multiport_hub_1 bed_20↔clock_1 toilet_21↔cushion_2 table_7↔clock_2 table_11↔clock_3 bench_12↔clock_4 bed_20↔lamp_1 counter_23↔plate_1 table_11↔lamp_2 bench_12↔bottle_1 chair_8↔bottle_2 table_7↔plate_2 table_11↔fork_1 bed_20↔book_1 chair_10↔cushion_3 stool_18↔bowl_1 stool_18↔tomato_1 couch_22↔plate_3 couch_22↔stuffed_toy_2 couch_22↔fork_2 chair_9↔box_1 stool_17↔soap_dispenser_1 washer_dryer_14↔soap_dispenser_2 chair_10↔hand_towel_1 bed_20↔box_2
scene_graph: agent
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scene_graph: floor_bathroom_1
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scene_graph: floor_closet_1
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scene_graph: cabinet_28
scene_graph: kitchen_1
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scene_graph: counter_23
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scene_graph: floor_kitchen_1
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scene_graph: fridge_27
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scene_graph: stool_16
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scene_graph: plate_1
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scene_graph: plate
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scene_graph: lamp
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scene_graph: bottle_1
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scene_graph: bottle
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scene_graph: bottle_2
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scene_graph: bottle
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scene_graph: plate_2
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scene_graph: plate
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scene_graph: fork_1
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scene_graph: fork
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scene_graph: book_1
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scene_graph: book
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scene_graph: bowl_1
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scene_graph: bowl
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scene_graph: tomato_1
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scene_graph: tomato
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scene_graph: plate_3
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scene_graph: plate
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scene_graph: stuffed_toy_2
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scene_graph: fork_2
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scene_graph: fork
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scene_graph: box_1
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scene_graph: box
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scene_graph: soap_dispenser_1
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scene_graph: closet_1
scene_graph: hallway_1
scene_graph: kitchen_1
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scene_graph: living_room_1
scene_graph: unknown_room
task: Place the plate on the stool in the kitchen, and then place the fork on the bench in the living room and clean the bench.
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