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"]}]}}
```
OUTPUT:
```
{
  "phase_1": {
    "Single robot start region": {
      "robot_1": "Bedroom_1"
    },
    "Single robot target object region": {
      "robot_1": "Bedroom_13"
    },
    "Target object": "rug",
    "Single robot end region": {
      "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 rug in bedroom to the bathroom counter in Bathroom."
  }
}
```