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 table_23↔teapot_1 table_23↔soap_dish_1 table_23↔teapot_2 toilet_15↔box_1 counter_33↔cushion_1 cabinet_24↔candle_1 cabinet_17↔milk_frother_cup_1 cabinet_17↔potato_1 shelves_7↔apple_1 table_9↔plate_1 shelves_7↔bowl_1 shelves_7↔spoon_1 chest_of_drawers_20↔cushion_2 stool_10↔bottle_1 table_13↔laptop_1 table_13↔laptop_cover_1 cabinet_28↔book_1 chest_of_drawers_20↔scissors_1 cabinet_25↔box_2 cabinet_17↔milk_frother_cup_2 cabinet_17↔kettle_1 cabinet_17↔pitcher_1 table_13↔cushion_3
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: teapot_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: soap_dish_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: soap_dish
scene_graph: pickup release
scene_graph: teapot_2
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: box_1
scene_graph: toilet_15
scene_graph: toilet_1
scene_graph: box
scene_graph: pickup release
scene_graph: cushion_1
scene_graph: counter_33
scene_graph: living_room_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: candle_1
scene_graph: cabinet_24
scene_graph: kitchen_1
scene_graph: candle
scene_graph: pickup release
scene_graph: milk_frother_cup_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: potato_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: potato
scene_graph: pickup release
scene_graph: apple_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: apple
scene_graph: pickup release
scene_graph: plate_1
scene_graph: table_9
scene_graph: living_room_1
scene_graph: plate
scene_graph: pickup release
scene_graph: bowl_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: bowl
scene_graph: pickup release
scene_graph: spoon_1
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: spoon
scene_graph: pickup release
scene_graph: cushion_2
scene_graph: chest_of_drawers_20
scene_graph: bedroom_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: bottle_1
scene_graph: stool_10
scene_graph: kitchen_1
scene_graph: bottle
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: laptop_cover_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: laptop_cover
scene_graph: pickup release
scene_graph: book_1
scene_graph: cabinet_28
scene_graph: kitchen_1
scene_graph: book
scene_graph: pickup release
scene_graph: scissors_1
scene_graph: chest_of_drawers_20
scene_graph: bedroom_1
scene_graph: scissors
scene_graph: pickup release
scene_graph: box_2
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: milk_frother_cup_2
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: kettle_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: kettle
scene_graph: pickup release
scene_graph: pitcher_1
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: pitcher
scene_graph: pickup release
scene_graph: cushion_3
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: cushion
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: Put some teapot in the chest of drawers. I want to learn if storing teapot is a good way to keep it clean. Oh, let's put a soap dish in there too..
searched_sg: 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 bedroom_1↔agent chest_of_drawers_20↔cushion_2 chest_of_drawers_20↔scissors_1 table_23↔teapot_1 table_23↔soap_dish_1 table_23↔teapot_2
searched_sg: agent
searched_sg: bedroom_1
searched_sg: place
searched_sg: bed_14
searched_sg: bedroom_1
searched_sg: place
searched_sg: chair_6
searched_sg: bedroom_1
searched_sg: place
searched_sg: chest_of_drawers_19
searched_sg: bedroom_1
searched_sg: place
searched_sg: chest_of_drawers_20
searched_sg: bedroom_1
searched_sg: place
searched_sg: chest_of_drawers_22
searched_sg: bedroom_1
searched_sg: place
searched_sg: floor_bedroom_1
searched_sg: bedroom_1
searched_sg: place
searched_sg: table_23
searched_sg: bedroom_1
searched_sg: hssd
searched_sg: floor_A
searched_sg: pickup release
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searched_sg: chest_of_drawers_20
searched_sg: bedroom_1
searched_sg: cushion
searched_sg: pickup release
searched_sg: scissors_1
searched_sg: chest_of_drawers_20
searched_sg: bedroom_1
searched_sg: scissors
searched_sg: pickup release
searched_sg: teapot_1
searched_sg: table_23
searched_sg: bedroom_1
searched_sg: teapot
searched_sg: pickup release
searched_sg: soap_dish_1
searched_sg: table_23
searched_sg: bedroom_1
searched_sg: soap_dish
searched_sg: pickup release
searched_sg: teapot_2
searched_sg: table_23
searched_sg: bedroom_1
searched_sg: teapot
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