scene_graph: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔cabinet_27 bathroom_1↔floor_bathroom_1 bathroom_1↔toilet_21 bathroom_2↔cabinet_37 bathroom_2↔floor_bathroom_2 bathroom_2↔toilet_16 bedroom_1↔bed_26 bedroom_1↔chest_of_drawers_43 bedroom_1↔floor_bedroom_1 bedroom_2↔bed_15 bedroom_2↔chair_14 bedroom_2↔chest_of_drawers_33 bedroom_2↔chest_of_drawers_41 bedroom_2↔chest_of_drawers_42 bedroom_2↔floor_bedroom_2 bedroom_2↔table_23 dining_room_1↔floor_dining_room_1 dining_room_1↔shelves_12 dining_room_1↔table_13 entryway_1↔floor_entryway_1 hallway_1↔floor_hallway_1 hallway_1↔table_22 kitchen_1↔cabinet_31 kitchen_1↔cabinet_34 kitchen_1↔cabinet_35 kitchen_1↔cabinet_36 kitchen_1↔cabinet_38 kitchen_1↔cabinet_39 kitchen_1↔cabinet_40 kitchen_1↔floor_kitchen_1 kitchen_1↔unknown_28 laundryroom_1↔floor_laundryroom_1 laundryroom_1↔unknown_25 laundryroom_1↔wardrobe_29 laundryroom_1↔wardrobe_30 laundryroom_1↔washer_dryer_17 laundryroom_1↔washer_dryer_18 living_room_1↔couch_19 living_room_1↔floor_living_room_1 living_room_1↔shelves_20 living_room_1↔table_24 living_room_1↔table_32 porch_1↔floor_porch_1 porch_2↔floor_porch_2 chest_of_drawers_33↔book_1 chest_of_drawers_42↔folder_1 chest_of_drawers_41↔pencil_case_1 cabinet_27↔box_1 couch_19↔box_2 cabinet_31↔bottle_1 table_13↔bowl_1 table_13↔plate_1 table_24↔bottle_2 couch_19↔cushion_1 cabinet_34↔glass_1 toilet_21↔box_3 cabinet_37↔tomato_1 table_22↔file_sorter_1 couch_19↔glass_2 couch_19↔glass_3 shelves_12↔cup_1 table_22↔tape_1 table_13↔toy_fruits_1 table_13↔doll_1 shelves_12↔helmet_1 couch_19↔stuffed_toy_1 toilet_21↔clock_1 couch_19↔lamp_1 shelves_12↔glass_4
scene_graph: agent
scene_graph: bathroom_1
scene_graph: place
scene_graph: cabinet_27
scene_graph: bathroom_1
scene_graph: place
scene_graph: floor_bathroom_1
scene_graph: bathroom_1
scene_graph: place
scene_graph: toilet_21
scene_graph: bathroom_1
scene_graph: place
scene_graph: cabinet_37
scene_graph: bathroom_2
scene_graph: place
scene_graph: floor_bathroom_2
scene_graph: bathroom_2
scene_graph: place
scene_graph: toilet_16
scene_graph: bathroom_2
scene_graph: place
scene_graph: bed_26
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_43
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_bedroom_1
scene_graph: bedroom_1
scene_graph: place
scene_graph: bed_15
scene_graph: bedroom_2
scene_graph: place
scene_graph: chair_14
scene_graph: bedroom_2
scene_graph: place
scene_graph: chest_of_drawers_33
scene_graph: bedroom_2
scene_graph: place
scene_graph: chest_of_drawers_41
scene_graph: bedroom_2
scene_graph: place
scene_graph: chest_of_drawers_42
scene_graph: bedroom_2
scene_graph: place
scene_graph: floor_bedroom_2
scene_graph: bedroom_2
scene_graph: place
scene_graph: table_23
scene_graph: bedroom_2
scene_graph: place
scene_graph: floor_dining_room_1
scene_graph: dining_room_1
scene_graph: place
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: place
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: place
scene_graph: floor_entryway_1
scene_graph: entryway_1
scene_graph: place
scene_graph: floor_hallway_1
scene_graph: hallway_1
scene_graph: place
scene_graph: table_22
scene_graph: hallway_1
scene_graph: place
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_34
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_35
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_36
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_38
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_39
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_40
scene_graph: kitchen_1
scene_graph: place
scene_graph: floor_kitchen_1
scene_graph: kitchen_1
scene_graph: place
scene_graph: unknown_28
scene_graph: kitchen_1
scene_graph: place
scene_graph: floor_laundryroom_1
scene_graph: laundryroom_1
scene_graph: place
scene_graph: unknown_25
scene_graph: laundryroom_1
scene_graph: place
scene_graph: wardrobe_29
scene_graph: laundryroom_1
scene_graph: place
scene_graph: wardrobe_30
scene_graph: laundryroom_1
scene_graph: place
scene_graph: washer_dryer_17
scene_graph: laundryroom_1
scene_graph: place
scene_graph: washer_dryer_18
scene_graph: laundryroom_1
scene_graph: place
scene_graph: couch_19
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_20
scene_graph: living_room_1
scene_graph: place
scene_graph: table_24
scene_graph: living_room_1
scene_graph: place
scene_graph: table_32
scene_graph: living_room_1
scene_graph: place
scene_graph: floor_porch_1
scene_graph: porch_1
scene_graph: place
scene_graph: floor_porch_2
scene_graph: porch_2
scene_graph: hssd
scene_graph: floor_A
scene_graph: pickup release
scene_graph: book_1
scene_graph: chest_of_drawers_33
scene_graph: bedroom_2
scene_graph: book
scene_graph: pickup release
scene_graph: folder_1
scene_graph: chest_of_drawers_42
scene_graph: bedroom_2
scene_graph: folder
scene_graph: pickup release
scene_graph: pencil_case_1
scene_graph: chest_of_drawers_41
scene_graph: bedroom_2
scene_graph: pencil_case
scene_graph: pickup release
scene_graph: box_1
scene_graph: cabinet_27
scene_graph: bathroom_1
scene_graph: box
scene_graph: pickup release
scene_graph: box_2
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: box
scene_graph: pickup release
scene_graph: bottle_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: bottle
scene_graph: pickup release
scene_graph: bowl_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: bowl
scene_graph: pickup release
scene_graph: plate_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: plate
scene_graph: pickup release
scene_graph: bottle_2
scene_graph: table_24
scene_graph: living_room_1
scene_graph: bottle
scene_graph: pickup release
scene_graph: cushion_1
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: glass_1
scene_graph: cabinet_34
scene_graph: kitchen_1
scene_graph: glass
scene_graph: pickup release
scene_graph: box_3
scene_graph: toilet_21
scene_graph: bathroom_1
scene_graph: box
scene_graph: pickup release
scene_graph: tomato_1
scene_graph: cabinet_37
scene_graph: bathroom_2
scene_graph: tomato
scene_graph: pickup release
scene_graph: file_sorter_1
scene_graph: table_22
scene_graph: hallway_1
scene_graph: file_sorter
scene_graph: pickup release
scene_graph: glass_2
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: glass
scene_graph: pickup release
scene_graph: glass_3
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: glass
scene_graph: pickup release
scene_graph: cup_1
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: cup
scene_graph: pickup release
scene_graph: tape_1
scene_graph: table_22
scene_graph: hallway_1
scene_graph: tape
scene_graph: pickup release
scene_graph: toy_fruits_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: toy_fruits
scene_graph: pickup release
scene_graph: doll_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: doll
scene_graph: pickup release
scene_graph: helmet_1
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: helmet
scene_graph: pickup release
scene_graph: stuffed_toy_1
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: stuffed_toy
scene_graph: pickup release
scene_graph: clock_1
scene_graph: toilet_21
scene_graph: bathroom_1
scene_graph: clock
scene_graph: pickup release
scene_graph: lamp_1
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: lamp
scene_graph: pickup release
scene_graph: glass_4
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: glass
scene_graph: bathroom_1
scene_graph: bathroom_2
scene_graph: bedroom_1
scene_graph: bedroom_2
scene_graph: dining_room_1
scene_graph: entryway_1
scene_graph: hallway_1
scene_graph: kitchen_1
scene_graph: laundryroom_1
scene_graph: living_room_1
scene_graph: porch_1
scene_graph: porch_2
scene_graph: unknown_room
task: First, help me set up a play area in the dining room. Place toy fruits and doll on the shelves. Then, move the helmet and place it next to the table.
searched_sg: hssd↔floor_A floor_A↔bathroom_1 dining_room_1↔floor_dining_room_1 dining_room_1↔shelves_12 dining_room_1↔table_13 bathroom_1↔agent shelves_12↔cup_1 shelves_12↔helmet_1 shelves_12↔glass_4 table_13↔bowl_1 table_13↔plate_1 table_13↔toy_fruits_1 table_13↔doll_1
searched_sg: agent
searched_sg: bathroom_1
searched_sg: place
searched_sg: floor_dining_room_1
searched_sg: dining_room_1
searched_sg: place
searched_sg: shelves_12
searched_sg: dining_room_1
searched_sg: place
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: hssd
searched_sg: floor_A
searched_sg: pickup release
searched_sg: cup_1
searched_sg: shelves_12
searched_sg: dining_room_1
searched_sg: cup
searched_sg: pickup release
searched_sg: helmet_1
searched_sg: shelves_12
searched_sg: dining_room_1
searched_sg: helmet
searched_sg: pickup release
searched_sg: glass_4
searched_sg: shelves_12
searched_sg: dining_room_1
searched_sg: glass
searched_sg: pickup release
searched_sg: bowl_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: bowl
searched_sg: pickup release
searched_sg: plate_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: plate
searched_sg: pickup release
searched_sg: toy_fruits_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: toy_fruits
searched_sg: pickup release
searched_sg: doll_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: doll
searched_sg: bathroom_1
searched_sg: bathroom_2
searched_sg: bedroom_1
searched_sg: bedroom_2
searched_sg: dining_room_1
searched_sg: entryway_1
searched_sg: hallway_1
searched_sg: kitchen_1
searched_sg: laundryroom_1
searched_sg: living_room_1
searched_sg: porch_1
searched_sg: porch_2
searched_sg: unknown_room