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scene_graph: agent
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scene_graph: cushion_1
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scene_graph: cup_2
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scene_graph: cup
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scene_graph: pitcher_1
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scene_graph: pitcher
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scene_graph: spoon_1
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scene_graph: spoon
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scene_graph: box_2
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task: Help me have a drink. First, place the cup and pitcher on the table next to each other.
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