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 table_13↔plate_1 table_13↔cup_1 table_13↔spoon_1 unknown_25↔casserole_1 cabinet_34↔tray_1 shelves_12↔soap_dispenser_1 washer_dryer_17↔shoe_1 table_22↔lamp_1 cabinet_37↔cup_2 toilet_16↔candle_1 cabinet_31↔teapot_1 cabinet_31↔milk_frother_cup_1 cabinet_31↔electric_kettle_1 unknown_25↔cushion_1 table_13↔plate_2 unknown_28↔glass_1 chair_14↔box_1 table_24↔scissors_1 table_24↔tray_2 cabinet_39↔box_2 cabinet_31↔teapot_2 cabinet_31↔milk_frother_cup_2 cabinet_31↔bread_1 cabinet_37↔cup_3
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: plate_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: plate
scene_graph: pickup release
scene_graph: cup_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: cup
scene_graph: pickup release
scene_graph: spoon_1
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: spoon
scene_graph: pickup release
scene_graph: casserole_1
scene_graph: unknown_25
scene_graph: laundryroom_1
scene_graph: casserole
scene_graph: pickup release
scene_graph: tray_1
scene_graph: cabinet_34
scene_graph: kitchen_1
scene_graph: tray
scene_graph: pickup release
scene_graph: soap_dispenser_1
scene_graph: shelves_12
scene_graph: dining_room_1
scene_graph: soap_dispenser
scene_graph: pickup release
scene_graph: shoe_1
scene_graph: washer_dryer_17
scene_graph: laundryroom_1
scene_graph: shoe
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: cup_2
scene_graph: cabinet_37
scene_graph: bathroom_2
scene_graph: cup
scene_graph: pickup release
scene_graph: candle_1
scene_graph: toilet_16
scene_graph: bathroom_2
scene_graph: candle
scene_graph: pickup release
scene_graph: teapot_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: milk_frother_cup_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: electric_kettle_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: electric_kettle
scene_graph: pickup release
scene_graph: cushion_1
scene_graph: unknown_25
scene_graph: laundryroom_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: plate_2
scene_graph: table_13
scene_graph: dining_room_1
scene_graph: plate
scene_graph: pickup release
scene_graph: glass_1
scene_graph: unknown_28
scene_graph: kitchen_1
scene_graph: glass
scene_graph: pickup release
scene_graph: box_1
scene_graph: chair_14
scene_graph: bedroom_2
scene_graph: box
scene_graph: pickup release
scene_graph: scissors_1
scene_graph: table_24
scene_graph: living_room_1
scene_graph: scissors
scene_graph: pickup release
scene_graph: tray_2
scene_graph: table_24
scene_graph: living_room_1
scene_graph: tray
scene_graph: pickup release
scene_graph: box_2
scene_graph: cabinet_39
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: teapot_2
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: milk_frother_cup_2
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: bread_1
scene_graph: cabinet_31
scene_graph: kitchen_1
scene_graph: bread
scene_graph: pickup release
scene_graph: cup_3
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 teapot, milk frother cup, and bread from the kitchen to the dining table, fill the teapot with water, and clean the kitchen counter.
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 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 cabinet_31↔teapot_1 cabinet_31↔milk_frother_cup_1 cabinet_31↔electric_kettle_1 cabinet_31↔teapot_2 cabinet_31↔milk_frother_cup_2 cabinet_31↔bread_1 cabinet_34↔tray_1 cabinet_39↔box_2 unknown_28↔glass_1 shelves_12↔soap_dispenser_1 table_13↔plate_1 table_13↔cup_1 table_13↔spoon_1 table_13↔plate_2
searched_sg: agent
searched_sg: bathroom_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
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searched_sg: place
searched_sg: cabinet_40
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searched_sg: floor_kitchen_1
searched_sg: kitchen_1
searched_sg: place
searched_sg: unknown_28
searched_sg: kitchen_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: teapot_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: teapot
searched_sg: pickup release
searched_sg: milk_frother_cup_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: milk_frother_cup
searched_sg: pickup release
searched_sg: electric_kettle_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: electric_kettle
searched_sg: pickup release
searched_sg: teapot_2
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: teapot
searched_sg: pickup release
searched_sg: milk_frother_cup_2
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: milk_frother_cup
searched_sg: pickup release
searched_sg: bread_1
searched_sg: cabinet_31
searched_sg: kitchen_1
searched_sg: bread
searched_sg: pickup release
searched_sg: tray_1
searched_sg: cabinet_34
searched_sg: kitchen_1
searched_sg: tray
searched_sg: pickup release
searched_sg: box_2
searched_sg: cabinet_39
searched_sg: kitchen_1
searched_sg: box
searched_sg: pickup release
searched_sg: glass_1
searched_sg: unknown_28
searched_sg: kitchen_1
searched_sg: glass
searched_sg: pickup release
searched_sg: soap_dispenser_1
searched_sg: shelves_12
searched_sg: dining_room_1
searched_sg: soap_dispenser
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: cup_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: cup
searched_sg: pickup release
searched_sg: spoon_1
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: spoon
searched_sg: pickup release
searched_sg: plate_2
searched_sg: table_13
searched_sg: dining_room_1
searched_sg: plate
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