scene_graph: hssd↔floor_A floor_A↔balcony_1 bathroom_1↔floor_bathroom_1 bathroom_1↔shower_24 bathroom_1↔toilet_21 bedroom_1↔bed_20 bedroom_1↔chair_10 bedroom_1↔chair_13 bedroom_1↔chair_25 bedroom_1↔chest_of_drawers_26 bedroom_1↔floor_bedroom_1 bedroom_1↔table_30 bedroom_1↔wardrobe_31 closet_1↔floor_closet_1 hallway_1↔floor_hallway_1 kitchen_1↔cabinet_28 kitchen_1↔counter_23 kitchen_1↔dishwasher_29 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_27 kitchen_1↔stool_16 kitchen_1↔stool_17 kitchen_1↔stool_18 kitchen_1↔stool_19 laundryroom_1↔floor_laundryroom_1 laundryroom_1↔washer_dryer_14 living_room_1↔bench_12 living_room_1↔chair_8 living_room_1↔chair_9 living_room_1↔couch_22 living_room_1↔floor_living_room_1 living_room_1↔table_11 living_room_1↔table_15 living_room_1↔table_7 counter_23↔kettle_1 counter_23↔milk_frother_cup_1 bed_20↔glass_1 couch_22↔cup_1 counter_23↔glass_2 shower_24↔plate_1 table_15↔kettle_2 table_15↔jug_1 table_15↔teapot_1 stool_16↔bottle_1 chair_10↔toy_construction_set_1 chair_10↔toy_bee_1 dishwasher_29↔vase_1 bench_12↔tomato_1 toilet_21↔book_1 chair_8↔box_1 chair_8↔plant_saucer_1 counter_23↔cup_2 counter_23↔plate_2 counter_23↔fork_1 couch_22↔vase_2 stool_17↔bottle_2 bench_12↔plant_container_1 stool_17↔bottle_3 bed_20↔cushion_1 table_30↔vase_3 washer_dryer_14↔glass_3
scene_graph: agent
scene_graph: balcony_1
scene_graph: place
scene_graph: floor_bathroom_1
scene_graph: bathroom_1
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scene_graph: shower_24
scene_graph: bathroom_1
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scene_graph: toilet_21
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scene_graph: bed_20
scene_graph: bedroom_1
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scene_graph: chair_10
scene_graph: bedroom_1
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scene_graph: chair_13
scene_graph: bedroom_1
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scene_graph: chair_25
scene_graph: bedroom_1
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scene_graph: chest_of_drawers_26
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_bedroom_1
scene_graph: bedroom_1
scene_graph: place
scene_graph: table_30
scene_graph: bedroom_1
scene_graph: place
scene_graph: wardrobe_31
scene_graph: bedroom_1
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scene_graph: floor_closet_1
scene_graph: closet_1
scene_graph: place
scene_graph: floor_hallway_1
scene_graph: hallway_1
scene_graph: place
scene_graph: cabinet_28
scene_graph: kitchen_1
scene_graph: place
scene_graph: counter_23
scene_graph: kitchen_1
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scene_graph: dishwasher_29
scene_graph: kitchen_1
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scene_graph: floor_kitchen_1
scene_graph: kitchen_1
scene_graph: place
scene_graph: fridge_27
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scene_graph: stool_16
scene_graph: kitchen_1
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scene_graph: stool_17
scene_graph: kitchen_1
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scene_graph: stool_18
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scene_graph: stool_19
scene_graph: kitchen_1
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scene_graph: floor_laundryroom_1
scene_graph: laundryroom_1
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scene_graph: washer_dryer_14
scene_graph: laundryroom_1
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scene_graph: bench_12
scene_graph: living_room_1
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scene_graph: chair_8
scene_graph: living_room_1
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scene_graph: chair_9
scene_graph: living_room_1
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scene_graph: couch_22
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scene_graph: floor_living_room_1
scene_graph: living_room_1
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scene_graph: table_11
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scene_graph: table_15
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scene_graph: table_7
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scene_graph: hssd
scene_graph: floor_A
scene_graph: pickup release
scene_graph: kettle_1
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scene_graph: kitchen_1
scene_graph: kettle
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scene_graph: milk_frother_cup_1
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scene_graph: milk_frother_cup
scene_graph: pickup release
scene_graph: glass_1
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scene_graph: cup_1
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scene_graph: cup
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scene_graph: glass_2
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scene_graph: plate_1
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scene_graph: jug_1
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scene_graph: living_room_1
scene_graph: jug
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scene_graph: teapot_1
scene_graph: table_15
scene_graph: living_room_1
scene_graph: teapot
scene_graph: pickup release
scene_graph: bottle_1
scene_graph: stool_16
scene_graph: kitchen_1
scene_graph: bottle
scene_graph: pickup release
scene_graph: toy_construction_set_1
scene_graph: chair_10
scene_graph: bedroom_1
scene_graph: toy_construction_set
scene_graph: pickup release
scene_graph: toy_bee_1
scene_graph: chair_10
scene_graph: bedroom_1
scene_graph: toy_bee
scene_graph: pickup release
scene_graph: vase_1
scene_graph: dishwasher_29
scene_graph: kitchen_1
scene_graph: vase
scene_graph: pickup release
scene_graph: tomato_1
scene_graph: bench_12
scene_graph: living_room_1
scene_graph: tomato
scene_graph: pickup release
scene_graph: book_1
scene_graph: toilet_21
scene_graph: bathroom_1
scene_graph: book
scene_graph: pickup release
scene_graph: box_1
scene_graph: chair_8
scene_graph: living_room_1
scene_graph: box
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scene_graph: plant_saucer_1
scene_graph: chair_8
scene_graph: living_room_1
scene_graph: plant_saucer
scene_graph: pickup release
scene_graph: cup_2
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scene_graph: cup
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scene_graph: plate_2
scene_graph: counter_23
scene_graph: kitchen_1
scene_graph: plate
scene_graph: pickup release
scene_graph: fork_1
scene_graph: counter_23
scene_graph: kitchen_1
scene_graph: fork
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scene_graph: vase_2
scene_graph: couch_22
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scene_graph: vase
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scene_graph: bottle_2
scene_graph: stool_17
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scene_graph: bottle
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scene_graph: plant_container_1
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scene_graph: plant_container
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scene_graph: bottle_3
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scene_graph: bottle
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scene_graph: cushion_1
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scene_graph: cushion
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scene_graph: vase_3
scene_graph: table_30
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scene_graph: glass_3
scene_graph: washer_dryer_14
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scene_graph: glass
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scene_graph: bedroom_1
scene_graph: closet_1
scene_graph: hallway_1
scene_graph: kitchen_1
scene_graph: laundryroom_1
scene_graph: living_room_1
scene_graph: unknown_room
task: Move the cup, plate, and fork from the kitchen counter to the dining table, and then clean the kitchen counter.
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