scene_graph: hssd↔floor_A floor_A↔bathroom_1 bathroom_1↔floor_bathroom_1 bathroom_1↔stool_28 bathroom_1↔table_61 bathroom_1↔toilet_34 bedroom_1↔bed_42 bedroom_1↔chest_of_drawers_63 bedroom_1↔chest_of_drawers_64 bedroom_1↔floor_bedroom_1 bedroom_1↔table_46 closet_1↔chest_of_drawers_53 closet_1↔floor_closet_1 entryway_1↔floor_entryway_1 entryway_1↔shelves_23 familyroom_1↔cabinet_47 familyroom_1↔cabinet_48 familyroom_1↔cabinet_56 familyroom_1↔chair_21 familyroom_1↔couch_19 familyroom_1↔floor_familyroom_1 familyroom_1↔shelves_13 familyroom_1↔shelves_14 familyroom_1↔table_22 familyroom_1↔unknown_60 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_54 kitchen_1↔cabinet_55 kitchen_1↔counter_30 kitchen_1↔counter_31 kitchen_1↔counter_32 kitchen_1↔counter_33 kitchen_1↔counter_58 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_57 kitchen_1↔unknown_59 laundryroom_1↔floor_laundryroom_1 laundryroom_1↔shelves_66 living_room_1↔chair_38 living_room_1↔chair_39 living_room_1↔chair_40 living_room_1↔chair_41 living_room_1↔chest_of_drawers_65 living_room_1↔couch_26 living_room_1↔counter_51 living_room_1↔counter_52 living_room_1↔floor_living_room_1 living_room_1↔table_16 living_room_1↔table_17 living_room_1↔table_37 office_1↔chair_24 office_1↔chair_25 office_1↔floor_office_1 office_1↔shelves_15 office_1↔table_62 porch_1↔floor_porch_1 toilet_1↔floor_toilet_1 toilet_1↔stand_20 toilet_1↔toilet_35 tv_1↔cabinet_49 tv_1↔cabinet_50 tv_1↔chair_45 tv_1↔couch_36 tv_1↔floor_tv_1 tv_1↔stool_43 tv_1↔stool_44 tv_1↔table_18 tv_1↔table_27 tv_1↔table_29 counter_30↔plate_1 counter_30↔glass_1 counter_30↔jug_1 cabinet_56↔clock_1 chest_of_drawers_63↔book_1 chest_of_drawers_64↔box_1 counter_58↔soap_dispenser_1 table_46↔clock_2 shelves_66↔helmet_1 table_17↔statue_1 counter_30↔vase_1 counter_58↔pan_1 chair_39↔glass_2 cabinet_56↔bottle_1 table_17↔kettle_1 table_17↔teapot_1 table_16↔cup_1 table_16↔spoon_1 table_17↔lamp_1 shelves_23↔soap_dispenser_2 shelves_23↔hand_towel_1 shelves_13↔vase_2 shelves_14↔plate_2 shelves_15↔bowl_1 unknown_59↔cushion_1 table_17↔vase_3 table_17↔teapot_2 table_16↔cup_2 table_17↔lamp_2 shelves_23↔glass_3 cabinet_55↔cushion_2
scene_graph: agent
scene_graph: bathroom_1
scene_graph: place
scene_graph: floor_bathroom_1
scene_graph: bathroom_1
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scene_graph: stool_28
scene_graph: bathroom_1
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scene_graph: closet_1
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scene_graph: floor_closet_1
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scene_graph: floor_entryway_1
scene_graph: entryway_1
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scene_graph: shelves_23
scene_graph: entryway_1
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scene_graph: cabinet_47
scene_graph: familyroom_1
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scene_graph: familyroom_1
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scene_graph: familyroom_1
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scene_graph: shelves_13
scene_graph: familyroom_1
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scene_graph: floor_laundryroom_1
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scene_graph: couch_26
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scene_graph: floor_porch_1
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scene_graph: floor_toilet_1
scene_graph: toilet_1
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scene_graph: stand_20
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scene_graph: toilet_1
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scene_graph: tv_1
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scene_graph: floor_tv_1
scene_graph: tv_1
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scene_graph: stool_43
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scene_graph: pickup release
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scene_graph: glass_1
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scene_graph: jug_1
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scene_graph: book_1
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scene_graph: box_1
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scene_graph: helmet_1
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scene_graph: statue_1
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scene_graph: glass
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scene_graph: bottle_1
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scene_graph: bottle
scene_graph: pickup release
scene_graph: kettle_1
scene_graph: table_17
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scene_graph: kettle
scene_graph: pickup release
scene_graph: teapot_1
scene_graph: table_17
scene_graph: living_room_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: cup_1
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scene_graph: cup
scene_graph: pickup release
scene_graph: spoon_1
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scene_graph: spoon
scene_graph: pickup release
scene_graph: lamp_1
scene_graph: table_17
scene_graph: living_room_1
scene_graph: lamp
scene_graph: pickup release
scene_graph: soap_dispenser_2
scene_graph: shelves_23
scene_graph: entryway_1
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scene_graph: hand_towel_1
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scene_graph: vase_2
scene_graph: shelves_13
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scene_graph: vase
scene_graph: pickup release
scene_graph: plate_2
scene_graph: shelves_14
scene_graph: familyroom_1
scene_graph: plate
scene_graph: pickup release
scene_graph: bowl_1
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scene_graph: office_1
scene_graph: bowl
scene_graph: pickup release
scene_graph: cushion_1
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scene_graph: kitchen_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: vase_3
scene_graph: table_17
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scene_graph: teapot_2
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scene_graph: teapot
scene_graph: pickup release
scene_graph: cup_2
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scene_graph: living_room_1
scene_graph: cup
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scene_graph: lamp_2
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scene_graph: lamp
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scene_graph: living_room_1
scene_graph: office_1
scene_graph: porch_1
scene_graph: toilet_1
scene_graph: tv_1
scene_graph: unknown_room
task: Move the kettle, teapot, cup, and spoon from the dining table to the kitchen, and fill the kettle and teapot with water. Then, turn on the lamp, and clean the dining table.
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