Here is an example of the INPUT and OUTPUT:
INPUT:
```
"scene graph": {'floor_1': {'region': [{'id': 'Bedroom_1'}, {'id': 'Bathroom_2'}, {'id': 'Kitchen_4'}, {'id': 'Living_room_5'}, {'id': 'Hallway_6'}, {'id': 'Bathroom_7'}, {'id': 'Laundry_room_8'}, {'id': 'Lounge_Waiting_Room_9'}, {'id': 'Entryway_Foyer_10'}, {'id': 'Bedroom_11'}, {'id': 'Bathroom_12'}, {'id': 'Bedroom_13'}], 'link': ['Bedroom_1 <-> Bathroom_2', 'Bedroom_1 <-> Kitchen_4', 'Kitchen_4 <-> Living_room_5', 'Kitchen_4 <-> Hallway_6', 'Kitchen_4 <-> Bathroom_7', 'Kitchen_4 <-> Laundry_room_8', 'Living_room_5 <-> Hallway_6', 'Living_room_5 <-> Lounge_Waiting_Room_9', 'Living_room_5 <-> Entryway_Foyer_10', 'Hallway_6 <-> Laundry_room_8', 'Hallway_6 <-> Lounge_Waiting_Room_9', 'Hallway_6 <-> Entryway_Foyer_10', 'Hallway_6 <-> Bedroom_11', 'Hallway_6 <-> Bathroom_12', 'Bathroom_12 <-> Bedroom_13'], 'item': [{'region': 'Bedroom_1', 'asset': ['bed', 'coffee_table', 'door'], 'object': ['vase', 'ottoman', 'lamp']}, {'region': 'Bathroom_2', 'asset': ['bathroom_counter', 'sink', 'bathroom_cabinet'], 'object': ['shower_cabin', 'rug', 'lamp']}, {'region': 'Kitchen_4', 'asset': ['dishwasher', 'oven', 'stove'], 'object': ['flower', 'flower_vase', 'bowl']}, {'region': 'Living_room_5', 'asset': ['shelf', 'couch', 'tv'], 'object': ['magazine', 'box', 'cushion']}, {'region': 'Hallway_6', 'asset': ['door'], 'object': ['lamp', 'vent', 'rack']}, {'region': 'Bathroom_7', 'asset': ['toilet', 'toilet_paper', 'sink'], 'object': ['towel', 'soap_dish', 'dustbin']}, {'region': 'Laundry_room_8', 'asset': ['counter', 'door', 'bench'], 'object': ['basket', 'coat_hanger', 'lamp']}, {'region': 'Lounge_Waiting_Room_9', 'asset': ['chair', 'table'], 'object': ['flower_vase', 'rack', 'flatware']}, {'region': 'Entryway_Foyer_10', 'asset': ['door', 'table'], 'object': ['lamp']}, {'region': 'Bedroom_11', 'asset': ['door', 'bed', 'dresser'], 'object': ['plant', 'lamp', 'box']}, {'region': 'Bathroom_12', 'asset': ['bathroom_counter', 'toilet', 'toilet_paper'], 'object': ['shower_handle', 'rug', 'towel_bar']}, {'region': 'Bedroom_13', 'asset': ['nightstand', 'door', 'bed'], 'object': ['rug', 'vent', 'lamp']}]}}
"single agent task": { "phase_1": {"Single robot start position": {"robot_1": "Bedroom_1"}, "Single robot target object position": {"robot_1": "Bedroom_13"}, "Target object": "lamp", "Single robot end position": {"robot_1": "Bathroom_2"}, "Single robot travel path": {"robot_1": ["Bedroom_1 -> Kichen_4", "Kichen_4 -> Living_room_5", "Living_room_5 -> Hallway_6", "Hallway_6 -> Bathroom_12", "Bathroom_12 -> Bedroom_13", "Bedroom_13 -> Bathroom_12", "Bathroom_12 -> Hallway_6", "Hallway_6 -> Living_room_5", "Living_room_5 -> Kichen_4", "Kichen_4 -> Bedroom_1", "Bedroom_1 -> Bathroom_2"]},"Task instruction": "Take the lamp in bedroom to the bathroom counter in Bathroom."}}
```
OUTPUT:
{
"phase_2": {
    "Collaborative robot start region": {
      "robot_1": "Bedroom_1",
      "robot_2": "Hallway_6"
    },
    "Collaborative type": "Type-A1",
    "Transfer region": "Kichen_4",
    "Collaborative robot travel path": {
      "robot_1": [
        "Bedroom_1 -> Kichen_4",
        "Kichen_4 -> Bedroom_1",
        "Bedroom_1 -> Bathroom_2"
      ],
      "robot_2": [
        "Hallway_6 -> Bathroom_12",
        "Bathroom_12 -> Bedroom_13",
        "Bedroom_13 -> Bathroom_12",
        "Bathroom_12 -> Hallway_6",
        "Hallway_6 -> Living_room_5",
        "Living_room_5 -> Kichen_4"
      ]
    },
    "Subtask instruction": {
      "robot_2": "Take the lamp in bedroom to the shelf in Kitchen.",
      "robot_1": "Take the lamp from shelf in Kitchen to the bathroom counter in Bathroom."
    },
    "Subtask list": {
      "robot_2": [
        "Move_to('lamp_13')",
        "Grab('lamp')",
        "Move_to('shelf_4')",
        "Release('lamp')"
      ],
      "robot_1": [
        "Move_to('shelf_4')",
        "Grab('lamp')",
        "Move_to('bathroom_counter_2')",
        "Release('lamp')"
      ]
    }
  }
}