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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the cabinet.
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{"task_instruction": "Open the cabinet.", "nodes": ["handle1", "handle2", "cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet", "spatial_relations": ["right_of", "close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet", "spatial_relations": ["in_front_of", "right_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Adjust the radiator.
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{"task_instruction": "Adjust the radiator.", "nodes": ["knob", "radiator"], "edges": [{"functional_relationship": "adjust", "object1": "knob", "object2": "radiator", "spatial_relations": ["lower_than", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "parameter_adjustment"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["handle / knob1", "kitchen cabinet", "handle / knob2"], "edges": [{"functional_relationship": "openorclose", "object1": "handle / knob1", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle / knob2", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the cabinet4.
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{"task_instruction": "Open the cabinet4.", "nodes": ["knob1", "knob2", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob1", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob2", "object2": "kitchen cabinet", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the coffee machine.
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{"task_instruction": "Turn on the coffee machine.", "nodes": ["coffee machine button / coffee machine switch", "coffee machine"], "edges": [{"functional_relationship": "activate", "object1": "coffee machine button / coffee machine switch", "object2": "coffee machine", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the cabinet.
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{"task_instruction": "Open the cabinet.", "nodes": ["handle1", "handle2", "handle3", "handle4", "cabinet1", "handle5", "handle6", "handle7", "handle8", "cabinet2", "handle9", "handle10", "handle11", "handle12", "cabinet3", "handle13", "handle14", "handle15", "handle16", "cabinet4", "handle17", "handle18", "handle19", "handle20", "cabinet5"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle9", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle9", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle9", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle9", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle9", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle10", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle10", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle10", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle10", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle10", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle11", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle11", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle11", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle11", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle11", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle12", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle12", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle12", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle12", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle12", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle13", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle13", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle13", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle13", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle13", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle14", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle14", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle14", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle14", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle14", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle15", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle15", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle15", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle15", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle15", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle16", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle16", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle16", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle16", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle16", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle17", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle17", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle17", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle17", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle17", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle18", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle18", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle18", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle18", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle18", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle19", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle19", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle19", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle19", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle19", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle20", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle20", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle20", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle20", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle20", "object2": "cabinet5", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light1", "ceiling light2", "ceiling light3"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light1", "spatial_relations": ["in_front_of", "lower_than", "right_of"], "is_touching": false}, {"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light2", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": false}, {"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light3", "spatial_relations": ["in_front_of", "lower_than", "left_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Flush the toilet.
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{"task_instruction": "Flush the toilet.", "nodes": ["handle", "toilet"], "edges": [{"functional_relationship": "control", "object1": "handle", "object2": "toilet", "spatial_relations": ["left_of", "higher_than", "behind"], "is_touching": true}], "action_type": "open", "function_type": "special_function"}
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<image>Task instruction: Open the window.
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{"task_instruction": "Open the window.", "nodes": ["handle1", "handle2", "window"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "window", "spatial_relations": ["close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "window", "spatial_relations": ["close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["in_front_of", "right_of", "lower_than"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the cabinet.
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{"task_instruction": "Open the cabinet.", "nodes": ["cabinet1", "handle1", "handle2", "cabinet2", "handle3", "handle4", "cabinet3", "handle5", "handle6", "cabinet4", "handle7", "handle8"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle5", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle6", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle7", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet1", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet2", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet3", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle8", "object2": "cabinet4", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the bathroom sink.
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{"task_instruction": "Control water flow of the bathroom sink.", "nodes": ["faucet / handle", "bathroom sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "bathroom sink", "spatial_relations": ["higher_than", "right_of", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Open the dresser / chest of drawers.
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{"task_instruction": "Open the dresser / chest of drawers.", "nodes": ["knob1", "dresser / chest of drawers", "knob2", "knob3", "knob4", "knob5", "knob6"], "edges": [{"functional_relationship": "openorclose", "object1": "knob1", "object2": "dresser / chest of drawers", "spatial_relations": ["higher_than", "right_of", "behind", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob2", "object2": "dresser / chest of drawers", "spatial_relations": ["higher_than", "right_of", "in_front_of", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob3", "object2": "dresser / chest of drawers", "spatial_relations": ["right_of", "behind", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob4", "object2": "dresser / chest of drawers", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob5", "object2": "dresser / chest of drawers", "spatial_relations": ["lower_than", "right_of", "in_front_of", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob6", "object2": "dresser / chest of drawers", "spatial_relations": ["lower_than", "right_of", "behind", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the stove burners.
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{"task_instruction": "Turn on the stove burners.", "nodes": ["stove knob1", "stove knob2", "stove knob3", "stove knob4", "stove burner1", "stove burner2", "stove burner3", "stove burner4"], "edges": [{"functional_relationship": "adjust", "object1": "stove knob1", "object2": "stove burner1", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob2", "object2": "stove burner2", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob3", "object2": "stove burner3", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob4", "object2": "stove burner4", "spatial_relations": ["in_front_of", "close"], "is_touching": false}], "action_type": "rotate", "function_type": "device_control"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob", "object2": "kitchen cabinet", "spatial_relations": ["lower_than", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the coffee machine.
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{"task_instruction": "Turn on the coffee machine.", "nodes": ["coffee machine button / coffee machine switch", "coffee machine"], "edges": [{"functional_relationship": "activate", "object1": "coffee machine button / coffee machine switch", "object2": "coffee machine", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Insert the flower into the vase.
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{"task_instruction": "Insert the flower into the vase.", "nodes": ["vase", "flower"], "edges": [{"functional_relationship": "pair with", "object1": "vase", "object2": "flower", "spatial_relations": ["behind", "close"], "is_touching": false}], "action_type": "insert", "function_type": "assembly"}
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<image>Task instruction: Open the cabinet1.
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{"task_instruction": "Open the cabinet1.", "nodes": ["knob1", "knob2", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob1", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob2", "object2": "kitchen cabinet", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the table's drawer.
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{"task_instruction": "Open the table's drawer.", "nodes": ["table", "handle1", "handle2"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "table", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "table", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the coffee machine.
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{"task_instruction": "Turn on the coffee machine.", "nodes": ["coffee machine button / coffee machine switch", "coffee machine"], "edges": [{"functional_relationship": "activate", "object1": "coffee machine button / coffee machine switch", "object2": "coffee machine", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the trashcan.
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{"task_instruction": "Open the trashcan.", "nodes": ["handle", "trashcan"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "trashcan", "spatial_relations": ["lower_than", "in_front_of", "close"], "is_touching": true}], "action_type": "press", "function_type": "open_close_control"}
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<image>Task instruction: Open the dresser.
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{"task_instruction": "Open the dresser.", "nodes": ["dresser", "handle1", "handle2", "handle3", "handle4"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the cabinet.
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{"task_instruction": "Open the cabinet.", "nodes": ["cabinet", "handle"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "cabinet", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "right_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Power on the kettle.
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{"task_instruction": "Power on the kettle.", "nodes": ["electric outlet", "kettle"], "edges": [{"functional_relationship": "providepower", "object1": "electric outlet", "object2": "kettle", "spatial_relations": ["higher_than", "right_of", "behind"], "is_touching": false}], "action_type": "insert", "function_type": "power_supply"}
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<image>Task instruction: Power on the fan.
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{"task_instruction": "Power on the fan.", "nodes": ["electric outlet", "fan"], "edges": [{"functional_relationship": "providepower", "object1": "electric outlet", "object2": "fan", "spatial_relations": ["lower_than", "left_of"], "is_touching": false}], "action_type": "insert", "function_type": "power_supply"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["left_of", "in_front_of", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the television.
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{"task_instruction": "Turn on the television.", "nodes": ["remote control", "tv"], "edges": [{"functional_relationship": "control", "object1": "remote control", "object2": "tv", "spatial_relations": ["left_of", "in_front_of", "lower_than"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Turn on the television.
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{"task_instruction": "Turn on the television.", "nodes": ["remote control", "tv"], "edges": [{"functional_relationship": "control", "object1": "remote control", "object2": "tv", "spatial_relations": ["left_of", "lower_than", "in_front_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the coffee machine.
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{"task_instruction": "Turn on the coffee machine.", "nodes": ["coffee machine button / coffee machine switch", "coffee machine"], "edges": [{"functional_relationship": "activate", "object1": "coffee machine button / coffee machine switch", "object2": "coffee machine", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Adjust the radiator.
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{"task_instruction": "Adjust the radiator.", "nodes": ["knob", "radiator"], "edges": [{"functional_relationship": "adjust", "object1": "knob", "object2": "radiator", "spatial_relations": ["higher_than", "right_of", "behind"], "is_touching": true}], "action_type": "rotate", "function_type": "parameter_adjustment"}
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<image>Task instruction: Power on the kettle.
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{"task_instruction": "Power on the kettle.", "nodes": ["electric outlet", "kettle"], "edges": [{"functional_relationship": "providepower", "object1": "electric outlet", "object2": "kettle", "spatial_relations": ["higher_than", "behind"], "is_touching": false}], "action_type": "insert", "function_type": "power_supply"}
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<image>Task instruction: Turn on the ceiling light fixture.
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{"task_instruction": "Turn on the ceiling light fixture.", "nodes": ["switch panel", "ceiling light fixture"], "edges": [{"functional_relationship": "control", "object1": "switch panel", "object2": "ceiling light fixture", "spatial_relations": ["lower_than", "right_of", "behind", "far"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Press the switch to control the ceiling light.
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{"task_instruction": "Press the switch to control the ceiling light.", "nodes": ["switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "switch", "object2": "ceiling light", "spatial_relations": ["lower_than", "right_of", "far"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the table's drawer.
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{"task_instruction": "Open the table's drawer.", "nodes": ["table", "handle1", "handle2"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "table", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "table", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the microwave oven.
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{"task_instruction": "Open the microwave oven.", "nodes": ["handle", "microwave oven"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "microwave oven", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Turn on the stove burners.
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{"task_instruction": "Turn on the stove burners.", "nodes": ["stove knob1", "stove knob2", "stove knob3", "stove knob4", "stove burner1", "stove burner2", "stove burner3", "stove burner4"], "edges": [{"functional_relationship": "adjust", "object1": "stove knob1", "object2": "stove burner1", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob2", "object2": "stove burner2", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob3", "object2": "stove burner3", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob4", "object2": "stove burner4", "spatial_relations": ["in_front_of", "close"], "is_touching": false}], "action_type": "rotate", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the window.
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{"task_instruction": "Open the window.", "nodes": ["handle", "window"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "window", "spatial_relations": ["close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Open the table's drawer.
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{"task_instruction": "Open the table's drawer.", "nodes": ["table", "handle"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "table", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Flush the toilet.
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{"task_instruction": "Flush the toilet.", "nodes": ["button", "toilet"], "edges": [{"functional_relationship": "control", "object1": "button", "object2": "toilet", "spatial_relations": ["higher_than", "behind"], "is_touching": false}], "action_type": "open", "function_type": "special_function"}
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<image>Task instruction: Turn on the toaster.
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{"task_instruction": "Turn on the toaster.", "nodes": ["toaster lever", "toaster"], "edges": [{"functional_relationship": "adjust", "object1": "toaster lever", "object2": "toaster", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "push", "function_type": "device_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["ceiling light", "light switch"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["right_of", "lower_than", "in_front_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Control water flow of the bathroom sink.
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{"task_instruction": "Control water flow of the bathroom sink.", "nodes": ["faucet / handle", "button / knob", "bathroom sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "bathroom sink", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "control", "object1": "button / knob", "object2": "bathroom sink", "spatial_relations": ["close", "lower_than"], "is_touching": true}], "action_type": "press", "function_type": "water_flow_control"}
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<image>Task instruction: Power on the lamp.
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{"task_instruction": "Power on the lamp.", "nodes": ["electric outlet", "lamp"], "edges": [{"functional_relationship": "providepower", "object1": "electric outlet", "object2": "lamp", "spatial_relations": ["lower_than", "right_of", "behind"], "is_touching": false}], "action_type": "insert", "function_type": "power_supply"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob1", "knob2", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob1", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob2", "object2": "kitchen cabinet", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["door", "handle"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["left_of", "in_front_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Adjust the radiator.
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{"task_instruction": "Adjust the radiator.", "nodes": ["knob", "radiator"], "edges": [{"functional_relationship": "adjust", "object1": "knob", "object2": "radiator", "spatial_relations": ["lower_than", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "parameter_adjustment"}
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<image>Task instruction: Open the fridge.
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{"task_instruction": "Open the fridge.", "nodes": ["handle", "fridge"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "fridge", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "right_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["in_front_of", "lower_than", "right_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the stove burners.
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{"task_instruction": "Turn on the stove burners.", "nodes": ["stove knob1", "stove knob2", "stove knob3", "stove knob4", "stove knob5", "stove burner1", "stove burner2", "stove burner3", "stove burner4", "stove burner5"], "edges": [{"functional_relationship": "adjust", "object1": "stove knob1", "object2": "stove burner1", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob2", "object2": "stove burner2", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob3", "object2": "stove burner3", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob4", "object2": "stove burner4", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob5", "object2": "stove burner5", "spatial_relations": ["in_front_of", "close"], "is_touching": false}], "action_type": "rotate", "function_type": "device_control"}
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<image>Task instruction: Set the microwave oven heating time.
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{"task_instruction": "Set the microwave oven heating time.", "nodes": ["knob", "microwave oven"], "edges": [{"functional_relationship": "adjust", "object1": "knob", "object2": "microwave oven", "spatial_relations": ["right_of", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "device_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["in_front_of", "right_of", "lower_than"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Plug the plug into the socket.
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{"task_instruction": "Plug the plug into the socket.", "nodes": ["socket", "plug"], "edges": [{"functional_relationship": "pair with", "object1": "socket", "object2": "plug", "spatial_relations": ["behind", "close"], "is_touching": false}], "action_type": "insert", "function_type": "assembly"}
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<image>Task instruction: Flush the toilet.
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{"task_instruction": "Flush the toilet.", "nodes": ["button", "toilet"], "edges": [{"functional_relationship": "control", "object1": "button", "object2": "toilet", "spatial_relations": ["higher_than", "behind"], "is_touching": true}], "action_type": "open", "function_type": "special_function"}
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<image>Task instruction: Open the window.
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{"task_instruction": "Open the window.", "nodes": ["handle", "window"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "window", "spatial_relations": ["close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the coffee machine.
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{"task_instruction": "Turn on the coffee machine.", "nodes": ["coffee machine button / coffee machine switch", "coffee machine"], "edges": [{"functional_relationship": "activate", "object1": "coffee machine button / coffee machine switch", "object2": "coffee machine", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "left_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Open the dresser.
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{"task_instruction": "Open the dresser.", "nodes": ["dresser", "handle1", "handle2", "handle3", "handle4"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle4", "object2": "dresser", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "left_of", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Turn on the television.
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{"task_instruction": "Turn on the television.", "nodes": ["remote control", "tv"], "edges": [{"functional_relationship": "control", "object1": "remote control", "object2": "tv", "spatial_relations": ["lower_than", "in_front_of", "right_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Put the lid on the pot.
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{"task_instruction": "Put the lid on the pot.", "nodes": ["pot", "pot lid"], "edges": [{"functional_relationship": "pair with", "object1": "pot", "object2": "pot lid", "spatial_relations": ["behind", "close"], "is_touching": false}], "action_type": "insert", "function_type": "assembly"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "open_close_control"}
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<image>Task instruction: Set the microwave oven heating time.
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{"task_instruction": "Set the microwave oven heating time.", "nodes": ["button", "microwave oven"], "edges": [{"functional_relationship": "adjust", "object1": "button", "object2": "microwave oven", "spatial_relations": ["right_of", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["door", "handle"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the bathroom sink.
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{"task_instruction": "Control water flow of the bathroom sink.", "nodes": ["faucet / handle", "button / knob", "bathroom sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "bathroom sink", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "control", "object1": "button / knob", "object2": "bathroom sink", "spatial_relations": ["close", "lower_than"], "is_touching": true}], "action_type": "press", "function_type": "water_flow_control"}
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<image>Task instruction: Set the microwave oven heating time.
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{"task_instruction": "Set the microwave oven heating time.", "nodes": ["button", "microwave oven"], "edges": [{"functional_relationship": "adjust", "object1": "button", "object2": "microwave oven", "spatial_relations": ["right_of", "close"], "is_touching": true}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Open the door.
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{"task_instruction": "Open the door.", "nodes": ["handle", "door"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "door", "spatial_relations": ["in_front_of", "left_of", "lower_than"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["in_front_of", "lower_than", "right_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Insert the key into the lock.
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{"task_instruction": "Insert the key into the lock.", "nodes": ["lock", "key"], "edges": [{"functional_relationship": "pair with", "object1": "lock", "object2": "key", "spatial_relations": ["right_of", "close"], "is_touching": false}], "action_type": "insert", "function_type": "assembly"}
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<image>Task instruction: Open the cabinet.
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{"task_instruction": "Open the cabinet.", "nodes": ["cabinet", "handle1", "handle2", "handle3"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "cabinet", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "cabinet", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle3", "object2": "cabinet", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob", "object2": "kitchen cabinet", "spatial_relations": ["lower_than", "right_of", "in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Turn on the ceiling light.
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{"task_instruction": "Turn on the ceiling light.", "nodes": ["light switch", "ceiling light"], "edges": [{"functional_relationship": "control", "object1": "light switch", "object2": "ceiling light", "spatial_relations": ["in_front_of", "lower_than", "right_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob1", "knob2", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob1", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "knob2", "object2": "kitchen cabinet", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the microwave oven.
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{"task_instruction": "Open the microwave oven.", "nodes": ["handle", "microwave oven"], "edges": [{"functional_relationship": "openorclose", "object1": "handle", "object2": "microwave oven", "spatial_relations": ["in_front_of", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Control water flow of the kitchen sink.
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{"task_instruction": "Control water flow of the kitchen sink.", "nodes": ["faucet / handle", "kitchen sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "kitchen sink", "spatial_relations": ["higher_than", "behind", "close"], "is_touching": true}], "action_type": "open", "function_type": "water_flow_control"}
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<image>Task instruction: Control water flow of the bathroom sink.
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{"task_instruction": "Control water flow of the bathroom sink.", "nodes": ["faucet / handle", "button / knob", "bathroom sink"], "edges": [{"functional_relationship": "control", "object1": "faucet / handle", "object2": "bathroom sink", "spatial_relations": ["higher_than", "close"], "is_touching": true}, {"functional_relationship": "control", "object1": "button / knob", "object2": "bathroom sink", "spatial_relations": ["close", "lower_than"], "is_touching": true}], "action_type": "press", "function_type": "water_flow_control"}
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<image>Task instruction: Turn on the stove burners.
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{"task_instruction": "Turn on the stove burners.", "nodes": ["stove knob1", "stove knob2", "stove knob3", "stove knob4", "stove burner1", "stove burner2", "stove burner3", "stove burner4"], "edges": [{"functional_relationship": "adjust", "object1": "stove knob1", "object2": "stove burner1", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob2", "object2": "stove burner2", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob3", "object2": "stove burner3", "spatial_relations": ["in_front_of", "close"], "is_touching": false}, {"functional_relationship": "adjust", "object1": "stove knob4", "object2": "stove burner4", "spatial_relations": ["in_front_of", "close"], "is_touching": false}], "action_type": "rotate", "function_type": "device_control"}
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<image>Task instruction: Open the fridge.
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{"task_instruction": "Open the fridge.", "nodes": ["handle1", "handle2", "fridge"], "edges": [{"functional_relationship": "openorclose", "object1": "handle1", "object2": "fridge", "spatial_relations": ["close", "in_front_of"], "is_touching": true}, {"functional_relationship": "openorclose", "object1": "handle2", "object2": "fridge", "spatial_relations": ["close", "in_front_of"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Open the kitchen cabinet.
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{"task_instruction": "Open the kitchen cabinet.", "nodes": ["knob", "kitchen cabinet"], "edges": [{"functional_relationship": "openorclose", "object1": "knob", "object2": "kitchen cabinet", "spatial_relations": ["higher_than", "close"], "is_touching": true}], "action_type": "pull", "function_type": "open_close_control"}
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<image>Task instruction: Adjust the radiator.
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{"task_instruction": "Adjust the radiator.", "nodes": ["knob", "radiator"], "edges": [{"functional_relationship": "adjust", "object1": "knob", "object2": "radiator", "spatial_relations": ["lower_than", "close"], "is_touching": true}], "action_type": "rotate", "function_type": "parameter_adjustment"}
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<image>Task instruction: Control the television.
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{"task_instruction": "Control the television.", "nodes": ["remote", "television"], "edges": [{"functional_relationship": "control", "object1": "remote", "object2": "television", "spatial_relations": ["lower_than", "right_of", "in_front_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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<image>Task instruction: Turn on the television.
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{"task_instruction": "Turn on the television.", "nodes": ["remote control", "tv"], "edges": [{"functional_relationship": "control", "object1": "remote control", "object2": "tv", "spatial_relations": ["lower_than", "in_front_of", "right_of"], "is_touching": false}], "action_type": "press", "function_type": "device_control"}
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