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 cabinet_31↔bottle_1 cabinet_31↔can_1 unknown_28↔cup_1 table_13↔soap_dispenser_1 shelves_12↔cushion_1 bed_26↔dumbbell_1 bed_26↔helmet_1 table_24↔basketball_1 table_24↔tennis_racquet_1 chest_of_drawers_42↔picture_frame_1 shelves_20↔clock_1 couch_19↔laptop_cover_1 couch_19↔carrying_case_1 table_13↔vase_1 unknown_25↔box_1 washer_dryer_18↔bowl_1 table_13↔cushion_2 cabinet_38↔teapot_1 cabinet_40↔milk_frother_cup_1 cabinet_39↔glass_1 cabinet_35↔box_2 cabinet_36↔box_3 table_22↔jug_1 table_22↔milk_frother_cup_2 table_22↔lamp_1 cabinet_31↔box_4 unknown_28↔glass_2 cabinet_37↔cup_2
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: bottle_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: bottle
scene_graph: pickup release
scene_graph: can_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: can
scene_graph: pickup release
scene_graph: cup_1
scene_graph: unknown_28
scene_graph: kitchen_1
scene_graph: cup
scene_graph: pickup release
scene_graph: soap_dispenser_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: soap_dispenser
scene_graph: pickup release
scene_graph: cushion_1
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: dumbbell_1
scene_graph: bed_26
scene_graph: bedroom_1
scene_graph: dumbbell
scene_graph: pickup release
scene_graph: helmet_1
scene_graph: bed_26
scene_graph: bedroom_1
scene_graph: helmet
scene_graph: pickup release
scene_graph: basketball_1
scene_graph: table_24
scene_graph: living_room_1
scene_graph: basketball
scene_graph: pickup release
scene_graph: tennis_racquet_1
scene_graph: table_24
scene_graph: living_room_1
scene_graph: tennis_racquet
scene_graph: pickup release
scene_graph: picture_frame_1
scene_graph: chest_of_drawers_42
scene_graph: bedroom_2
scene_graph: picture_frame
scene_graph: pickup release
scene_graph: clock_1
scene_graph: shelves_20
scene_graph: living_room_1
scene_graph: clock
scene_graph: pickup release
scene_graph: laptop_cover_1
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: laptop_cover
scene_graph: pickup release
scene_graph: carrying_case_1
scene_graph: couch_19
scene_graph: living_room_1
scene_graph: carrying_case
scene_graph: pickup release
scene_graph: vase_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: vase
scene_graph: pickup release
scene_graph: box_1
scene_graph: unknown_25
scene_graph: laundryroom_1
scene_graph: box
scene_graph: pickup release
scene_graph: bowl_1
scene_graph: washer_dryer_18
scene_graph: laundryroom_1
scene_graph: bowl
scene_graph: pickup release
scene_graph: cushion_2
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: teapot_1
scene_graph: cabinet_38
scene_graph: kitchen_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: milk_frother_cup_1
scene_graph: cabinet_40
scene_graph: kitchen_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: glass_1
scene_graph: cabinet_39
scene_graph: kitchen_1
scene_graph: glass
scene_graph: pickup release
scene_graph: box_2
scene_graph: cabinet_35
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: box_3
scene_graph: cabinet_36
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: jug_1
scene_graph: table_22
scene_graph: hallway_1
scene_graph: jug
scene_graph: pickup release
scene_graph: milk_frother_cup_2
scene_graph: table_22
scene_graph: hallway_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: lamp_1
scene_graph: table_22
scene_graph: hallway_1
scene_graph: lamp
scene_graph: pickup release
scene_graph: box_4
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: glass_2
scene_graph: unknown_28
scene_graph: kitchen_1
scene_graph: glass
scene_graph: pickup release
scene_graph: cup_2
scene_graph: cabinet_37
scene_graph: bathroom_2
scene_graph: cup
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: Move the jug and the milk frother cup from the hallway table to the kitchen and fill the jug with water. Then, turn off the lamp, and clean the hallway table.
searched_sg: hssd↔floor_A floor_A↔bathroom_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 bathroom_1↔agent table_22↔jug_1 table_22↔milk_frother_cup_2 table_22↔lamp_1 cabinet_31↔bottle_1 cabinet_31↔can_1 cabinet_31↔box_4 cabinet_35↔box_2 cabinet_36↔box_3 cabinet_38↔teapot_1 cabinet_39↔glass_1 cabinet_40↔milk_frother_cup_1 unknown_28↔cup_1 unknown_28↔glass_2
searched_sg: agent
searched_sg: bathroom_1
searched_sg: place
searched_sg: floor_hallway_1
searched_sg: hallway_1
searched_sg: place
searched_sg: table_22
searched_sg: hallway_1
searched_sg: place
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_34
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_35
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_36
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_38
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_39
searched_sg: kitchen_1
searched_sg: place
searched_sg: cabinet_40
searched_sg: kitchen_1
searched_sg: place
searched_sg: floor_kitchen_1
searched_sg: kitchen_1
searched_sg: place
searched_sg: unknown_28
searched_sg: kitchen_1
searched_sg: hssd
searched_sg: floor_A
searched_sg: pickup release
searched_sg: jug_1
searched_sg: table_22
searched_sg: hallway_1
searched_sg: jug
searched_sg: pickup release
searched_sg: milk_frother_cup_2
searched_sg: table_22
searched_sg: hallway_1
searched_sg: milk_frother_cup
searched_sg: pickup release
searched_sg: lamp_1
searched_sg: table_22
searched_sg: hallway_1
searched_sg: lamp
searched_sg: pickup release
searched_sg: bottle_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: bottle
searched_sg: pickup release
searched_sg: can_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: can
searched_sg: pickup release
searched_sg: box_4
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: box
searched_sg: pickup release
searched_sg: box_2
searched_sg: cabinet_35
searched_sg: kitchen_1
searched_sg: box
searched_sg: pickup release
searched_sg: box_3
searched_sg: cabinet_36
searched_sg: kitchen_1
searched_sg: box
searched_sg: pickup release
searched_sg: teapot_1
searched_sg: cabinet_38
searched_sg: kitchen_1
searched_sg: teapot
searched_sg: pickup release
searched_sg: glass_1
searched_sg: cabinet_39
searched_sg: kitchen_1
searched_sg: glass
searched_sg: pickup release
searched_sg: milk_frother_cup_1
searched_sg: cabinet_40
searched_sg: kitchen_1
searched_sg: milk_frother_cup
searched_sg: pickup release
searched_sg: cup_1
searched_sg: unknown_28
searched_sg: kitchen_1
searched_sg: cup
searched_sg: pickup release
searched_sg: glass_2
searched_sg: unknown_28
searched_sg: kitchen_1
searched_sg: glass
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